CN111242373A - Patrol route determining method and device, readable storage medium and computer equipment - Google Patents
Patrol route determining method and device, readable storage medium and computer equipment Download PDFInfo
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- CN111242373A CN111242373A CN202010032026.XA CN202010032026A CN111242373A CN 111242373 A CN111242373 A CN 111242373A CN 202010032026 A CN202010032026 A CN 202010032026A CN 111242373 A CN111242373 A CN 111242373A
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- 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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- 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
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Abstract
A patrol route determination method, apparatus, readable storage medium and computer device, the method comprising: acquiring pointing information between sub-region connectors in a region to be patrolled; when the to-be-patrolled area meets the judgment condition of the preset Euler area according to the pointing information among the sub-area connectors, selecting one sub-area connector in the to-be-patrolled area as a starting sub-area connector; sequentially determining a next sub-region connecting port from a starting sub-region connecting port to a terminal sub-region connecting port to obtain sequencing information of each sub-region connecting port; the number of times that each sub-area connecting port of the non-end point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port; and generating a patrol route of the area to be patrolled according to the sequencing information of the sub-area connectors. The patrol route generated by the patrol route determining method can ensure that the patrol of the area to be patrolled is realized by the shortest path.
Description
Technical Field
The present application relates to the field of intelligent transportation technologies, and in particular, to a patrol route determination method, a patrol route determination apparatus, a computer-readable storage medium, and a computer device.
Background
Intelligent transportation is one of the focuses of attention in the industry. In the intelligent patrol application in the intelligent transportation field, the patrol method provided in the prior art generally controls a patrol car to start patrol from a connector of a certain area until each area is patrolled, so that the patrol car can be ensured to patrol all areas.
However, in practical applications, if patrol is performed directly according to the patrol method, there is a high possibility that a region where patrol is repeated many times exists in the patrol process, so that patrol routes of patrol cars will be greatly increased, and the increase of patrol routes inevitably causes an increase in cost.
Therefore, how to ensure that the patrol car realizes the shortest path patrol on the premise of patrolling all areas is a key problem faced by intelligent patrol.
Disclosure of Invention
Based on this, it is necessary to provide an optimized patrol route determination method, apparatus, readable storage medium and computer device for the technical problem of how to ensure that a patrol car realizes shortest path patrol under the condition of patrolling all areas.
A patrol route determination method, the method comprising:
acquiring pointing information between sub-region connectors in a region to be patrolled;
when the to-be-patrolled area meets the judgment condition of a preset Euler area according to the pointing information among the sub-area connectors, selecting one sub-area connector in the to-be-patrolled area as a starting sub-area connector;
sequentially determining a next sub-region connecting port from the starting sub-region connecting port to a terminal sub-region connecting port to obtain sequencing information of each sub-region connecting port; the number of times that each sub-area connecting port of the non-terminal point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port;
and generating a patrol route of the area to be patrolled according to the sequencing information of the sub-area connectors.
A patrol route determination apparatus, the apparatus comprising:
a pointing information acquisition module for acquiring pointing information between sub-region connectors in the region to be patrolled
A starting sub-region connector selecting module, configured to select one sub-region connector in the to-be-patrolled region as a starting sub-region connector when it is determined that the to-be-patrolled region meets a preset euler region judgment condition according to the pointing information between the sub-region connectors;
the sequencing information determining module is used for sequentially determining a next sub-region connecting port from the starting sub-region connecting port to a terminal sub-region connecting port according to the pointing information to obtain sequencing information of each sub-region connecting port; the number of times that each sub-area connecting port of the non-terminal point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port;
and the patrol route generating module is used for generating patrol routes of the areas to be patrolled according to the sequencing information of the sub-area connectors.
A computer-readable storage medium, in which a computer program is stored which, when executed by a processor, causes the processor to carry out the steps of the patrol route determination method described above.
A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of the patrol route determination method described above.
According to the patrol route determining method, the patrol route determining device, the readable storage medium and the computer equipment, before a patrol is performed on an area to be patrolled, the pointing information between every two sub-area connectors in the area to be patrolled is obtained, when the area to be patrolled is determined to meet the preset Euler area judgment condition according to the pointing information of every two sub-area connectors, a starting sub-area connector is selected from the area to be patrolled, the next sub-area connector is sequentially determined according to the pointing information of the starting sub-area connector, the sequencing information of every two sub-area connectors is obtained, the number of times of passing when the every two sub-area connectors are not at the end point is equal to the number of the area connectors pointed by the every two sub-area connectors, and a patrol route is generated according to the sequencing information. The method comprises the steps that a to-be-patrolled area is determined to meet the judgment condition of an Euler area according to the pointing information of each sub-area connector, and the to-be-patrolled area can be patrolled by the shortest path, so that the sub-area connectors are sequentially selected, the number of times that the non-end sub-area connectors are passed is equal to the number of the sub-area connectors pointed by the connectors, and the patrolling route generated by obtaining the sequencing information can ensure that the to-be-patrolled area can be patrolled by the shortest path.
Drawings
Fig. 1 is a diagram of an application environment of a patrol route determination method according to an embodiment;
FIG. 2 is a schematic flow chart diagram of a patrol route determination method according to an embodiment;
FIG. 3 is a diagram illustrating pointing information between sub-area connectors in an exemplary embodiment;
FIG. 4 is a schematic diagram of the Euler loop area in one embodiment;
fig. 5 is a schematic flow chart of a patrol route determination method in another embodiment;
fig. 6 is a schematic flow chart illustrating a process of dividing a region to be patrolled into at least two sub-regions to be patrolled, each of which satisfies a preset euler region judgment condition, in one embodiment;
FIG. 7 is a schematic flow chart diagram of a patrol route determination method in an exemplary embodiment;
fig. 8 is a schematic view of an application scenario of the patrol route determination method in an embodiment;
fig. 9 is a block diagram showing the structure of a patrol route determining apparatus according to an embodiment;
FIG. 10 is a block diagram showing a configuration of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is an application environment diagram of the patrol route determination method in one embodiment. Referring to fig. 1, in some embodiments, the patrol route determination method includes a terminal 110 and a server 120. The terminal 110 and the server 120 are connected through a network. The calculation module in the server 120 acquires the pointing information between the sub-region connectors in the region to be patrolled through the terminal 110, selects a starting sub-region connector from the region to be patrolled when it is determined that the region to be patrolled meets the preset euler region judgment condition according to the pointing information of the sub-region connectors, sequentially determines the next sub-region connector according to the pointing information of the starting sub-region connector, and acquires the sequencing information of the sub-region connectors, wherein when the sub-region connectors are ensured to be non-end points, the number of times of passing is equal to the number of the region connectors pointed by the sub-region connectors, and a patrol route is generated according to the sequencing information. Further, the server 120 may transmit the patrol route to the terminal 110 to implement patrol according to the patrol route received by the terminal 110. Among them, the terminal 110 may be specifically a vehicle-mounted terminal mounted on a vehicle for patrol. The server 120 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers, and in some embodiments, the server 120 is implemented as a cloud server.
As shown in fig. 2, in one embodiment, a patrol route determination method is provided. The embodiment is mainly illustrated by applying the method to the server 120 in fig. 1. Referring to fig. 2, the patrol route determination method specifically includes steps S210 to S240.
And step S210, acquiring pointing information among sub-region connectors in the region to be patrolled.
The area to be patrolled is an area needing to be patrolled; in this embodiment, the area to be patrolled includes a plurality of sub-areas, a connection portion between each sub-area is denoted as a sub-area connection port in this embodiment, and a connection between every two sub-area connection ports has a direction, and in this embodiment, the connection portion is denoted as pointing information between the sub-area connection ports, for example, two sub-area connection ports a and B, and the pointing information between a and B may be that a points to B, or may be that B points to a, or may be that a points to B, or may point to a; the method includes the steps of obtaining direction information among all sub-region connectors, namely obtaining direction information between each sub-region connector and other sub-region connectors in an area to be patrolled, and specifically obtaining direction information between each sub-region connector and the associated sub-region connectors (including the sub-region connector pointed by each sub-region connector and the sub-region connector pointed to each sub-region connector).
In one embodiment, the sub-regions in the area to be patrolled are roads to be patrolled, and the sub-region connectors are connectors between the roads; further, in one embodiment, if a road is one-way according to traffic regulations, the direction information between the road connection ports at both ends of the road is one-way; if a road is driven in both directions according to traffic regulations, the direction information between the road connection ports at both ends of the road is in both directions. FIG. 3 is a diagram illustrating pointing information between sub-area connectors in an exemplary embodiment; in the sub-area connection ports shown in fig. 3, since both the two roads are driven in one direction, the vehicle can change lanes between different lanes of any one of the roads, and cannot change lanes between two roads in different directions, in this embodiment, the two roads in different directions can be recorded as two sub-areas, and different lanes in the same direction in each road are recorded as the same sub-area, and each sub-area includes two sub-area connection ports. It is to be understood that, in other embodiments, the area to be patrolled may also be other areas, if necessary, the area to be patrolled is divided into a plurality of sub-areas according to a certain preset rule, and the connection positions between the sub-areas correspond to the sub-area connection ports therein.
In one embodiment, the pointing information between sub-area connectors of the area to be patrolled is acquired from a cloud or other channels.
And S220, when the to-be-patrolled area meets the judgment condition of the preset Euler area according to the pointing information among the sub-area connectors, selecting one sub-area connector in the to-be-patrolled area as a starting sub-area connector.
The route is called an Euler route if a route in FIG. G includes exactly once each edge, wherein the Euler route includes two cases, an Euler path and an Euler loop, and in this embodiment, if each sub-region in the area to be patrolled is guaranteed to be patrolled only once while being patrolled, the area to be patrolled can be determined to satisfy the preset Euler area determination condition, wherein the area to be patrolled can be called an Euler path area if each sub-region is guaranteed to be patrolled only once while being patrolled, a vehicle for patrolling does not return to the patrol starting point at the end of the patrol, and the area to be patrolled can be called an Euler path area if each sub-region is guaranteed to be patrolled only once while being patrolled, and a vehicle for patrolling returns to the patrol starting point at the end of the patrol, the area can be called an Euler path area, the area Euler path area can be called an Euler path area ① in a specific embodiment, the Euler path area is represented by a connecting port 3556, and the patrolling direction is shown as a directional connecting port ①, wherein the patrolling area between three sub-regions.
In one embodiment, where the patrol of the area to be patrolled may be set, a preset starting position may be obtained and determined as the starting sub-region connection port. Wherein, the preset Euler area judgment condition is preset according to the actual situation.
Step S230, sequentially determining a next sub-region connecting port from the starting sub-region connecting port to the destination sub-region connecting port according to the pointing information, and obtaining the sequencing information of each sub-region connecting port; the number of times that each sub-area connecting port of the non-end point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port.
When a current sub-region connecting port is located, determining a next sub-region connecting port according to the pointing information of the sub-region connecting port includes: and selecting one of the sub-area connectors pointed by the sub-area connector as a next sub-area connector, wherein the next sub-area connector needs to meet the conditions.
When a patrol route which needs to meet the shortest path is determined, the sequence of patrol sub-region connectors can be sequentially determined, in the embodiment, a sub-region connector is selected as a starting patrol point and is marked as a starting sub-region connector; and determining a second sub-region connecting port needing to be patrolled according to the pointing information of the starting sub-region connecting port, and then determining a third sub-region connecting port needing to be patrolled according to the pointing information of the second sub-region connecting port until the last sub-region connecting port in the region to be patrolled. In this embodiment, when a non-end-point sub-area connection port (including a start sub-area connection port and all sub-area connections before the end point) is selected, a condition that the number of times that the current sub-area connection port is passed is equal to the number of sub-area connection ports indicated by each sub-area connection port needs to be satisfied; that is, if any non-terminal sub-region connection port X is selected, if the number of times that the sub-region connection port X and any sub-region connection port behind the sub-region connection port X are passed is greater than the number of sub-region connection ports indicated by the sub-region connection port X, the non-terminal sub-region connection port X cannot be selected at the sequential position. Further, the determination of whether the number of times the current sub-region connection port has been passed is equal to the condition indicating the number of sub-region connection ports of each sub-region connection port may be performed by a method such as an enumeration method.
In another embodiment, both the start sub-region connection port and/or the end sub-region connection port may be designated, and it is understood that, in this embodiment, the patrol route is determined by using the predetermined sub-region connection ports when determining the patrol route. In practical situations, sometimes it is necessary to specify a start point and/or an end point of a patrol car for an area to be patrolled, and therefore, when determining a patrol route, the start point and/or the end point are determined according to the specified start point and/or end point.
And S240, generating a patrol route of the area to be patrolled according to the sequencing information of the sub-area connectors.
In step S220 and step S230, the sequence in which the sub-area connection ports of the area to be patrolled are passed is selected, and a patrol route can be obtained according to the sequence; further, when the area to be patrolled is patrolled according to the patrol route, any one of the sub-areas can be ensured to be patrolled and only be patrolled once, so that the shortest path patrol is realized.
The patrol route determining method includes the steps of obtaining pointing information among sub-region connectors in an area to be patrolled before the area to be patrolled is patrolled, selecting a starting sub-region connector from the area to be patrolled when the area to be patrolled meets a preset Euler area judgment condition according to the pointing information of the sub-region connectors, sequentially determining a next sub-region connector according to the pointing information of the starting sub-region connector, obtaining sequencing information of the sub-region connectors, wherein when the sub-region connectors are not at the end point, the number of times of passing is equal to the number of the area connectors pointed by the sub-region connectors, and generating a patrol route according to the sequencing information. The method comprises the steps that a to-be-patrolled area is determined to meet the judgment condition of an Euler area according to the pointing information of each sub-area connector, and the to-be-patrolled area can be patrolled by the shortest path, so that the sub-area connectors are sequentially selected, the number of times that the non-end sub-area connectors are passed is equal to the number of the sub-area connectors pointed by the connectors, and the patrolling route generated by obtaining the sequencing information can ensure that the to-be-patrolled area can be patrolled by the shortest path.
Further, in an embodiment, the patrol route determining method further includes the steps of: and determining the number of pointed-out sub-region connecting ports pointed out by each sub-region connecting port and the number of pointed-in sub-region connecting ports pointed into each sub-region connecting port according to the pointing information, wherein the sub-region connecting ports are not counted repeatedly when the number of pointed-out sub-region connecting ports and the number of pointed-in sub-region connecting ports of each sub-region connecting port are determined.
For example, if the sub-region connection port a points to the sub-region connection port including B, C and D, and the sub-region connection port pointing to the sub-region connection port a includes E and F, the number of pointed sub-region connection ports of a is 3, and the number of pointed sub-region connection ports of a is 2. In one embodiment, the sub-area connection port to which the sub-area connection port a points may also include the sub-area connection port a itself, and in an actual case, taking a road connection port as an example, there may be a circular road starting with the road connection port and ending with the road connection port, where the road connection port points to the road connection port itself.
The number of pointed-out sub-region connecting ports and the number of pointed-in sub-region connecting ports of each sub-region connecting port are not repeated, and the sub-region connecting ports show that when the pointed-out sub-region connecting ports and the pointed-in sub-region connecting ports of the sub-region connecting ports A are counted, if the sub-region connecting ports B are counted in the number of pointed-out sub-region connecting ports of the sub-region connecting ports A, the sub-region connecting ports are not counted in the number of pointed-in sub-region connecting ports of the; that is, when the pointing information between two sub-area connection ports is bidirectional pointing, when the number of pointed sub-area connection ports and the number of pointed sub-area connection ports of one sub-area connection port are determined, the other sub-area connection port is counted only once. Furthermore, the condition that the number of the pointed sub-region connecting ports and the number of the pointed sub-region connecting ports of each sub-region connecting port are not repeated is only embodied when the number of the pointed sub-region connecting ports and the number of the pointed sub-region connecting ports of each sub-region connecting port are determined at one time; for example, assuming that the sub-region connection port a points to the sub-region connection ports including B, C and D and the sub-region connection port pointing to the sub-region connection port a includes D, E and F, the number of pointed-out sub-region connection ports of a and the number of pointed-in sub-region connection ports may include two cases: first, the number of connection ports of the pointed sub-region of A is 3(B, C and D), and the number of connection ports of the pointed sub-region of A is 2(E and F); second, the number of connection ports of the pointing sub-region of a is 2(B and C), and the number of connection ports of the pointing sub-region of a is 3(D, E and F).
Further, in this embodiment, determining that the area to be patrolled satisfies the preset euler area determination condition according to the pointing information between the sub-area connectors includes: and determining that the area to be patrolled meets the preset Euler area judgment condition according to the number of the pointed sub-area connectors and the number of the pointed sub-area connectors of each sub-area connector.
In the embodiment, whether the area to be patrolled meets the judgment condition of the preset Euler area or not is judged according to the number of pointed sub-area connectors and the number of pointed sub-area connectors of each sub-area connector; in one embodiment, when the number of the pointed-out sub-region connectors of each sub-region connector is equal to the number of the pointed-in sub-region connectors, or when the number of the pointed-out sub-region connectors of all sub-region connectors except for two sub-region connectors in the region to be patrolled is equal to the number of the pointed-in sub-region connectors, and the difference between the number of the pointed-out sub-region connectors of each of the two sub-region connectors and the number of the pointed-in sub-region connectors meets a preset difference condition, it is determined that the region to be patrolled meets a preset euler region judgment condition.
When the number of pointed sub-region connectors of each sub-region connector and the number of pointed sub-region connectors of each sub-region connector are determined to enable the region to be patrolled to meet the preset Euler region judgment condition, whether the number of pointed sub-region connectors and the number of pointed sub-region connectors of each sub-region connector meet the condition needs to be determined respectively, and whether the number of pointed sub-region connectors of each sub-region connector and the number of pointed sub-region connectors of each sub-region connector are equal or whether the difference value meets the preset difference value condition needs to be determined.
In one embodiment, when any sub-region connector in the area to be patrolled meets the condition that the number of the pointed sub-region connectors is equal to that of the pointed sub-region connectors, the area to be patrolled meets the preset Euler area judgment condition; further, in this embodiment, the patrol area is an euler loop area.
In another embodiment, when the number of pointed sub-region connectors of all sub-region connectors except for two sub-region connectors in the region to be patrolled is equal to the number of pointed sub-region connectors, and the numerical difference between the number of pointed sub-region connectors of the two sub-region connectors and the number of pointed sub-region connectors meets a preset difference condition; namely, if and only if the difference between the number of pointed sub-region connectors of two sub-region connectors and the number of pointed sub-region connectors in the to-be-patrolled region meets the preset difference condition, and the number of pointed sub-region connectors of all the other sub-region connectors is equal to the number of pointed sub-region connectors, determining that the to-be-patrolled region meets the preset Euler region judgment condition; further, the area to be patrolled in the present embodiment is not an euler circuit area but an euler access area.
In a specific embodiment, the preset difference condition is that two equal sub-region connecting ports are not satisfied, wherein the number of the pointed sub-region connecting ports of one sub-region connecting port is 1 more than that of the pointed sub-region connecting ports, and the number of the pointed sub-region connecting ports of the other sub-region connecting port is 1 more than that of the pointed sub-region connecting ports.
It should be noted that, when the number of pointed-out sub-region connectors and the number of pointed-in sub-region connectors of each sub-region connector are determined, in order to meet the condition that the sub-region connectors are not counted repeatedly, the number of pointed-out sub-region connectors and the number of pointed-in sub-region connectors of each sub-region connector may have different situations, and when it is determined whether the region to be patrolled meets the preset euler region determination condition according to the number of pointed-out sub-region connectors and the number of pointed-in sub-region connectors of each sub-region connector, it is necessary to determine each situation separately. Further, when the area to be patrolled is determined to meet the condition of the preset euler area, the condition indicates that at least one patrol route exists in the area to be patrolled, and the shortest path patrol can be realized while the patrol is completed.
Further, in the above embodiment, only one patrol route is determined for one area to be patrolled in an optimal situation, that is, the area to be patrolled is patrolled by only one patrol vehicle. In practical situations, a plurality of patrol vehicles may be arranged in the region to be patrolled to patrol, so that efficiency can be improved, therefore, the region to be patrolled needs to be partitioned into sub-regions, the maximum number of the partitioned sub-regions is limited by the total maximum patrol frequency, and the following embodiments can be referred to for a specific partitioning method.
In one embodiment, as shown in fig. 5, the patrol route determination method further includes step S510 and step S520.
Step S510, when the to-be-patrolled area is determined not to meet the preset Euler area judgment condition according to the pointing information among the sub-area connectors, dividing the to-be-patrolled area into at least two to-be-patrolled sub-areas which both meet the preset Euler area judgment condition.
In the above embodiment, the case where the area to be patrolled satisfies the preset euler area judgment condition has been described in detail, but in an actual situation, the area to be patrolled may not satisfy the preset euler area judgment condition, and the determination of the patrol route may be implemented by using the method in the present embodiment.
Specifically, when the area to be patrolled does not meet the preset euler judgment condition, the area to be patrolled is divided into a plurality of sub-areas to be patrolled, and it should be noted that each of the sub-areas to be patrolled obtained by division may still include a plurality of sub-areas. In one embodiment, when dividing the sub-regions to be patrolled, the maximum number of patrols that can be allowed in practical situations needs to be considered, and if there is a limit to the maximum number of patrols to run patrols, the number of divided sub-regions to be patrolled should be less than or equal to the maximum number of patrols. The maximum patrol frequency can be determined according to the condition, if only one patrol car is limited by the energy of the patrol car and the like at present, the patrol car has the maximum use frequency, and the maximum use frequency is the maximum patrol frequency; if a certain number of patrol cars are available for patrol, the maximum patrol frequency can be determined according to the actual conditions, which is limited by the maximum use frequency of each patrol car or the preset maximum patrol time.
In one embodiment, as shown in fig. 6, dividing the area to be patrolled into at least two sub-areas to be patrolled, each of which satisfies the preset euler area judgment condition, includes:
step S610, dividing the area to be patrolled into two or more than two analog sub-areas to be patrolled.
The number of the sub-regions to be simulated and patrolled in the division mode can be set according to actual conditions, and in one embodiment, the number of the sub-regions to be simulated and patrolled is smaller than the preset maximum patrolling times; when the maximum patrol frequency is preset for the patrol area to be patrolled, the divided simulation sub-areas to be patrolled are not required to exceed the preset maximum patrol frequency. The preset maximum patrol frequency is set according to the actual situation.
Step S620, when all the simulated sub-regions to be patrolled meet the preset Euler region judgment condition according to the pointing information of all the sub-region connecting ports in all the simulated sub-regions to be patrolled, determining the simulated sub-regions to be patrolled as the sub-regions to be patrolled.
Further, determining whether each simulated sub-region to be patrolled meets the preset euler region judgment condition according to the pointing information of each sub-region connector in each simulated sub-region to be patrolled specifically comprises: and determining whether each simulated subarea to be patrolled meets the preset Euler area judgment condition or not according to the number of pointed subarea connectors and the number of pointed subarea connectors of each subarea connector in each simulated subarea to be patrolled. The specific determination method may be the same as the manner of determining the area to be patrolled in the above embodiment, and is not described herein again.
And S630, when the simulated sub-areas to be patrolled which do not meet the judgment condition of the preset Euler area exist according to the pointing information of the sub-area connecting ports in the simulated sub-areas to be patrolled, returning to the step of dividing the area to be patrolled into two or more simulated sub-areas to be patrolled.
If the area to be patrolled can be divided into a plurality of simulated sub-areas to be patrolled, which all meet the judgment condition of the preset Euler area, the simulated sub-areas to be patrolled are used as the sub-areas to be patrolled; if the divided simulation sub-areas to be patrolled have simulation sub-areas to be patrolled which do not meet the judgment condition of the preset Euler area, the division of the simulation sub-areas to be patrolled can be returned.
In one embodiment where there are a plurality of patrol cars for patrol, the method further comprises: and acquiring the number of the patrol cars and the maximum using times of each patrol car, and determining the maximum patrol times. Further, in this embodiment, when the area to be patrolled needs to be divided into a plurality of sub-areas to be patrolled, the condition that the number of the sub-areas to be patrolled does not exceed the maximum patrol frequency needs to be satisfied.
And S520, respectively determining patrol sub-routes corresponding to the sub-areas to be patrolled.
Further, after dividing the area to be patrolled into a plurality of sub-areas to be patrolled which all meet the judgment condition of the preset Euler area, respectively determining patrolling sub-routes for the sub-areas to be patrolled; furthermore, the patrol of the sub-areas to be patrolled can be completed by a plurality of patrol cars according to the patrol sub-lines, or by one patrol car according to the patrol sub-lines for a plurality of times, so that the patrol route can still be ensured to lead the total patrol path to be shortest. The mode of determining the patrol sub-routes of the sub-areas to be patrolled is the same as the mode of determining the areas to be patrolled in the embodiment shown in fig. 2, and the determined patrol sub-routes need to patrol the sub-areas of the sub-areas to be patrolled only once.
In another embodiment, referring to fig. 5 again, the patrol route determining method further includes step S530 and step S540.
Step S530, when the area to be patrolled cannot be divided into sub-areas to be patrolled which all meet the judgment condition of the preset Euler area, the area to be patrolled is divided into a first type of sub-areas to be patrolled which meet the judgment condition of the preset Euler area and a second type of sub-areas to be patrolled which do not meet the judgment condition of the preset Euler area, and the number of the first type of sub-areas to be patrolled is maximized.
In the above embodiment, if the area to be patrolled can be just divided into a plurality of sub-areas to be patrolled, which all satisfy the preset euler area judgment condition, and when the sub-areas to be patrolled, which are obtained by dividing the area to be patrolled, all satisfy the preset euler area judgment condition no matter how the sub-areas are divided, it means that the area to be patrolled cannot satisfy that each sub-area is patrolled and is patrolled only once, and at this time, a patrol route is determined to make the patrol route of the patrol car shortest when the area to be patrolled. In this embodiment, when the area to be patrolled cannot meet the condition, the area to be patrolled is divided into a first type of sub-area to be patrolled which meets the preset euler area judgment condition and a second type of sub-area to be patrolled which does not meet the preset euler area judgment condition, and it can be understood that the number of the second type of sub-area to be patrolled is greater than or equal to 1, and further, as the patrolling route of the area to be patrolled is required to be shortest as much as possible when the area to be patrolled is divided into the first type of sub-area to be patrolled and the second type of sub-area to be patrolled, the number of the first type of sub-area to be patrolled is maximized; specifically, the maximum number of the first-class sub-regions to be patrolled may be realized by any one of methods, such as an enumeration method.
Step S540, respectively determining first patrol sub-routes corresponding to the first-class sub-areas to be patrolled; the number of times that each sub-area connecting port of the non-end point in the first patrol sub-line is passed is equal to the number of pointed sub-area connecting ports of each sub-area connecting port; and respectively determining a second patrol sub-route in each second type of sub-area to be patrolled, wherein the second type of sub-area to be patrolled meets the shortest patrol path.
After dividing the area to be patrolled into a first type of sub-area to be patrolled and a second type of sub-area to be patrolled, determining patrolling sub-lines of the sub-areas to be patrolled respectively; for the first type of sub-regions to be patrolled which meet the preset euler judgment condition, the corresponding patrolling sub-lines can be determined by referring to the method described in the embodiment, and the first patrolling sub-lines corresponding to the first type of sub-regions to be patrolled are required to ensure that each sub-region in the first type of sub-regions to be patrolled is patrolled and is patrolled only once; determining a patrol sub-route corresponding to a second type of sub-area to be patrolled which does not meet the preset Euler area judgment condition, and enabling the patrol route of the corresponding second type of sub-area to be patrolled to be shortest as much as possible; the method for ensuring that the second-class sub-region to be patrolled meets the shortest patrol path can be any method; the patrol sub-routes corresponding to the first type of sub-areas to be patrolled and the patrol sub-routes corresponding to the second type of sub-areas to be patrolled obtained in the way can keep the total patrol path of the areas to be patrolled to be the minimum when the areas are patrolled.
In the above embodiment, when the area to be patrolled does not meet the preset euler area judgment condition, the area to be patrolled is divided according to certain limits to obtain sub-areas to be patrolled, and the patrol sub-routes corresponding to the sub-areas to be patrolled are respectively determined, so that the shortest total patrol route of the area to be patrolled during patrolling can still be ensured.
Further, in one embodiment, the method further comprises: and controlling the patrol car to patrol according to the patrol route. After the patrol route of the area to be patrolled is determined according to the method, the area to be patrolled is patrolled according to the patrol route, the patrol path of the patrol car can be ensured to be minimum, and specifically, the intelligent patrol car is controlled to patrol according to the patrol route.
In a specific embodiment, for example, when the patrol route determining method is applied to a patrol road, in this embodiment, the area to be patrolled includes a plurality of roads, the sub-area connectors are road connectors, different lanes of the same-direction road are set as the same sub-area, and different-direction roads between two intersections are set as different sub-areas. The patrol route determination method in the present embodiment shown in fig. 7 includes the following steps.
Acquiring the number of sub-area connectors in the area to be patrolled from the cloud or other channels, recording as n, and respectively using v1，v2，...，vnAnd (4) showing.
Connection port v for a subregion1，v2，...，vnAcquiring connection ports v pointing to each sub-area respectively from cloud or other channels1，v2，...，vnThe number of sub-region connection ports (including the sub-region connection ports themselves) of (a) is represented by i1，i2，...，in。
Connection port v for a subregion1，v2，...，vnAcquiring a sub-area connecting port v from a cloud or other channels1，v2，...，vnNumber of respectively directed sub-area connection ports (including the sub-area connection port itself)Amounts, respectively denoted as j1，j2，...，jn；
For the area connectors a and B at the two ends of the sub-area, if patrol can be started from the sub-area connector a to be stopped at the sub-area connector B when patrolling the area, or patrol can be started from the sub-area connector B to be stopped at the sub-area connector a, the sub-area connector a can be considered to point to the sub-area connector B, or the sub-area connector B can be considered to point to the sub-area connector a; in this embodiment, in the case of one-time counting of the sub-region connection port a, the sub-region connection port B is at inAnd jnIt is noted only once.
Connection port v for any sub-regionk，k∈{1，2，...，n}vk，k∈{1，2，...，n}：
① if the number of sub-area connectors pointing to it (including the sub-area connectors themselves) is equal to the number of sub-area connectors pointing to it (condition one), determining that the area to be patrolled is an euler loop area (and of course an euler access area);
② if not all the sub-area connection ports satisfy the condition one, but when and only when there are two sub-area connection ports (note that they are v respectivelyp，vqIf the p and q are not equal to the {1, 2,., n }) condition, judging whether the number of the sub-area connectors pointing to the sub-areas is 1 more or 1 less than the number of the sub-area connectors pointing to the sub-areas, if so, judging that the area to be patrolled is an Euler access area, and if ① or ② is met, judging that the area to be patrolled can meet the preset Euler area judgment condition;
③ if neither ① nor ② is true, the area to be patrolled is not a euler patrolling area, at which time the patrolling area can be divided into sections and then a patrolling route can be determined.
Dividing the area to be patrolled into two or more than two sub-areas to be patrolled, the number of which does not exceed the maximum patrolling times, then judging whether each sub-area to be patrolled is a Euler area, if so, respectively determining a patrolling sub-route corresponding to each sub-area to be patrolled, and leading the patrol car to patrol in each sub-area according to the patrolling sub-routes; therefore, the patrol path can be minimized while the intelligent patrol car is ensured to patrol all areas. If each sub-region of the to-be-patrolled region cannot be made to be an Euler region, the number of the to-be-patrolled sub-regions of which the sub-regions are Euler regions is maximized when the regions are divided (an enumeration method can be adopted); and further respectively determining patrol sub-routes corresponding to the sub-areas to be patrolled, wherein the patrol sub-routes corresponding to the sub-areas to be patrolled (the first type of sub-areas to be patrolled) which meet the Euler area ensure that each sub-area in the sub-areas to be patrolled is patrolled and is patrolled only once, and the patrol sub-routes corresponding to the sub-areas to be patrolled (the second type of sub-areas to be patrolled) which do not meet the Euler area ensure that the patrol path of the sub-areas to be patrolled is shortest. The determination mode of the maximum patrol frequency is as follows: assuming that a total of n patrol cars are respectively numbered as 1,2, … and n, the maximum repeatable patrol times of each patrol car are marked as R1, R2, … and Rn, and the maximum patrol times are R1+ R2+ … + Rn. Further, the maximum repeatable patrol number of each patrol car can be determined according to the remaining energy, the service life and the like of the patrol cars.
Further, in a specific embodiment, as shown in fig. 8, a schematic view of an application scenario when the method is applied to road patrol is shown, where the vehicle may be a patrol vehicle or a common vehicle, the vehicle includes a drive test sensing unit, a computing module is deployed in a cloud platform, and the drive test sensing unit and the cloud platform are connected through a network; the computing module in the cloud platform can be written by adopting Python (a cross-platform computer programming language, which is an object-oriented dynamic type language), and the pointing information between sub-region connectors of the region to be patrolled is acquired through a drive test sensing unit and the like. Further, a vehicle-mounted unit can be adopted in the vehicle, and if the vehicle is provided with the vehicle-mounted unit, the cloud platform can acquire information of an area to be patrolled from the intelligent patrol car or other vehicles; it should be noted that, if the vehicle is equipped with an onboard unit, the drive test sensing units are paired with the onboard unit one by one. The method comprises the steps that a computing module of a cloud platform judges whether an area to be patrolled is an Euler area or not or whether the area to be patrolled can be divided into a plurality of sub-areas to be patrolled of the Euler area or not according to acquired pointing information among sub-area connectors of the area to be patrolled, and determines a patrolling route which enables a patrolling path of the area to be patrolled to be shortest; further, the patrol route may be returned to a drive test sensing unit or an on-board unit in the vehicle.
Because each sub-region in the Euler area can be patrolled by the intelligent patrol car and each sub-region is patrolled only once, the patrol car can patrol all the areas and realize shortest path patrol when patrolling the Euler patrol area; in the patrol route determining method, whether an area to be patrolled is an Euler area or not is preferentially determined, and if so, a patrol route for realizing the shortest patrol route is determined; and if the area to be patrolled is not the Euler area, dividing the area to be patrolled, and respectively determining patrolling sub-routes corresponding to the sub-areas to be patrolled by adopting the most appropriate dividing method, wherein the patrolling path can be shortest as much as possible by patrolling the sub-routes corresponding to the sub-areas to be patrolled.
Fig. 2 is a schematic flow chart of a patrol route determination method in one embodiment. It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In an embodiment of the present application, there is also provided a patrol route determining apparatus, as shown in fig. 9, including: a pointing information acquisition module 910, a starting sub-region connection port selection module 920, a sorting information determination module 930, and a patrol route generation module 940. Wherein:
a pointing information obtaining module 910, configured to obtain pointing information between connectors of each sub-region in a region to be patrolled;
a starting sub-region connector selecting module 920, configured to select one sub-region connector in the to-be-patrolled region as a starting sub-region connector when it is determined that the to-be-patrolled region meets the preset euler region judgment condition according to the pointing information between the sub-region connectors;
a sorting information determining module 930, configured to sequentially determine a next sub-region connection port from the start sub-region connection port to the end sub-region connection port according to the pointing information, and obtain sorting information of each sub-region connection port; the number of times that each sub-area connecting port of the non-end point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port;
and a patrol route generating module 940, configured to generate a patrol route of the area to be patrolled according to the sorting information of the sub-area connectors.
The patrol route determining device acquires the pointing information between the sub-region connectors in the area to be patrolled before patrolling the area to be patrolled, selects the starting sub-region connectors from the area to be patrolled when determining that the area to be patrolled meets the preset Euler area judgment condition according to the pointing information of the sub-region connectors, sequentially determines the next sub-region connectors according to the pointing information of the starting sub-region connectors, and acquires the sequencing information of the sub-region connectors, wherein the passing times are equal to the number of the region connectors pointed by the sub-region connectors when the sub-region connectors are not at the end point, and then generates the patrol route according to the sequencing information. The method comprises the steps that a to-be-patrolled area is determined to meet the judgment condition of an Euler area according to the pointing information of each sub-area connector, and the to-be-patrolled area can be patrolled by the shortest path, so that the sub-area connectors are sequentially selected, the number of times that the non-end sub-area connectors are passed is equal to the number of the sub-area connectors pointed by the connectors, and the patrolling route generated by obtaining the sequencing information can ensure that the to-be-patrolled area can be patrolled by the shortest path.
In one embodiment, the patrol route determining device further includes a to-be-patrol sub-region dividing module, configured to divide the to-be-patrol region into at least two to-be-patrol sub-regions each of which satisfies a preset euler region determination condition when it is determined that the to-be-patrol region does not satisfy the preset euler region determination condition according to the pointing information between the sub-region connectors; the patrol route generation module in this embodiment is further configured to determine patrol sub-routes corresponding to the sub-areas to be patrolled, respectively.
In one embodiment, the to-be-patrolled sub-region dividing module in the patrol route determining device is specifically configured to divide the to-be-patrolled region into two or more analog to-be-patrolled sub-regions; when determining that each simulated sub-region to be patrolled meets the preset Euler region judgment condition according to the pointing information of each sub-region connector in each simulated sub-region to be patrolled, determining the simulated sub-region to be patrolled as a sub-region to be patrolled; and when the simulated sub-areas to be patrolled which do not meet the judgment condition of the preset Euler area exist according to the pointing information of the sub-area connectors in the simulated sub-areas to be patrolled, returning to the step of dividing the area to be patrolled into two or more simulated sub-areas to be patrolled.
In an embodiment, the to-be-patrolled sub-region dividing module in the patrol route determining device is further configured to, when the to-be-patrolled region cannot be divided into to-be-patrolled sub-regions each satisfying the preset euler region judgment condition, divide the to-be-patrolled region into a first type of to-be-patrolled sub-region satisfying the preset euler region judgment condition and a second type of to-be-patrolled sub-region not satisfying the preset euler region judgment condition, so as to maximize the number of the first type of to-be-patrolled sub-regions; the patrol route generating module in this embodiment is further configured to determine first patrol sub-routes corresponding to the first-class sub-areas to be patrolled, respectively; the number of times that each sub-area connecting port of the non-end point in the first patrol sub-line is passed is equal to the number of pointed sub-area connecting ports of each sub-area connecting port; and respectively determining second patrol sub-routes in the second type of sub-areas to be patrolled, which enable the second type of sub-areas to be patrolled to meet the shortest patrol path.
In one embodiment, the number of sub-areas to be patrolled is less than a preset maximum number of patrols.
In one embodiment, the above apparatus further comprises: the sub-region connection port number determining module is used for determining the number of pointed sub-region connection ports pointed out by each sub-region connection port and the number of pointed sub-region connection ports pointed into each sub-region connection port according to the pointing information, and the sub-region connection ports are not repeatedly counted when the number of pointed sub-region connection ports and the number of pointed sub-region connection ports of each sub-region connection port are determined; in the embodiment, the area to be patrolled meets the preset Euler area judgment condition according to the number of the pointed sub-area connectors and the number of the pointed sub-area connectors of each sub-area connector.
In one embodiment, when the number of the pointed-out sub-region connectors of each sub-region connector is equal to the number of the pointed-in sub-region connectors, or when the number of the pointed-out sub-region connectors of all sub-region connectors except for two sub-region connectors in the region to be patrolled is equal to the number of the pointed-in sub-region connectors, and the difference between the number of the pointed-out sub-region connectors of each of the two sub-region connectors and the number of the pointed-in sub-region connectors meets a preset difference condition, it is determined that the region to be patrolled meets a preset euler region judgment.
FIG. 10 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be the server 120 in fig. 1. As shown in fig. 10, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement the patrol route determination method. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform a patrol route determination method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the patrol route determination apparatus provided by the present application may be implemented in the form of a computer program that is executable on a computer device such as that shown in fig. 10. The memory of the computer device may store various program modules constituting the patrol route determining apparatus, such as a direction information acquiring module, a starting sub-region connection port selecting module, a sorting information determining module, and a patrol route generating module shown in fig. 9. The respective program modules constitute computer programs that cause the processors to execute the steps in the patrol route determination methods of the respective embodiments of the present application described in the present specification.
For example, the computer device shown in fig. 10 may acquire the pointing information between the sub-region connection ports in the region to be patrolled through the pointing information acquisition module in the patrol route determination device shown in fig. 9. The computer equipment can acquire the pointing information between the sub-region connectors in the region to be patrolled through the pointing information acquisition module. The computer equipment can select one sub-region connector in the area to be patrolled as a starting sub-region connector when determining that the area to be patrolled meets the preset Euler area judgment condition according to the pointing information among the sub-region connectors through the starting sub-region connector selecting module. The computer equipment can sequentially determine the next sub-region connecting port from the starting sub-region connecting port to the destination sub-region connecting port according to the pointing information through the sequencing information determining module to obtain the sequencing information of each sub-region connecting port; the number of times that each sub-area connecting port of the non-end point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port. The computer equipment can generate a patrol route of the area to be patrolled according to the sequencing information of the sub-area connectors through the patrol route generation module.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the patrol route determination method described above. The steps of the patrol route determination method here may be steps in the patrol route determination methods of the respective embodiments described above.
In one embodiment, a computer-readable storage medium is provided, in which a computer program is stored, which, when executed by a processor, causes the processor to carry out the steps of the patrol route determination method described above. The steps of the patrol route determination method here may be steps in the patrol route determination methods of the respective embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A patrol route determination method, comprising:
acquiring pointing information between sub-region connectors in a region to be patrolled;
when the to-be-patrolled area meets the judgment condition of a preset Euler area according to the pointing information among the sub-area connectors, selecting one sub-area connector in the to-be-patrolled area as a starting sub-area connector;
sequentially determining a next sub-region connecting port from the starting sub-region connecting port to a terminal sub-region connecting port according to the pointing information, and obtaining sequencing information of each sub-region connecting port; the number of times that each sub-area connecting port of the non-terminal point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port;
and generating a patrol route of the area to be patrolled according to the sequencing information of the sub-area connectors.
2. The method of claim 1, further comprising:
when the to-be-patrolled area does not meet the judgment condition of the preset Euler area according to the pointing information among the sub-area connectors, dividing the to-be-patrolled area into at least two to-be-patrolled sub-areas which both meet the judgment condition of the preset Euler area;
and respectively determining patrol sub-routes corresponding to the sub-areas to be patrolled.
3. The method according to claim 2, wherein the dividing the area to be patrolled into at least two sub-areas to be patrolled, each of which meets a preset euler area judgment condition, comprises:
dividing the area to be patrolled into two or more than two analog sub-areas to be patrolled;
when determining that each simulation sub-region to be patrolled meets a preset Euler region judgment condition according to the pointing information of each sub-region connecting port in each simulation sub-region to be patrolled, determining the simulation sub-region to be patrolled as the sub-region to be patrolled;
and when the simulated sub-areas to be patrolled which do not meet the judgment condition of the preset Euler area exist according to the pointing information of the sub-area connectors in the simulated sub-areas to be patrolled, returning to the step of dividing the area to be patrolled into two or more simulated sub-areas to be patrolled.
4. The method of claim 2, further comprising:
when the area to be patrolled cannot be divided into sub-areas to be patrolled which all meet the judgment condition of the preset Euler area, dividing the area to be patrolled into a first type of sub-areas to be patrolled which meet the judgment condition of the preset Euler area and a second type of sub-areas to be patrolled which do not meet the judgment condition of the preset Euler area, and maximizing the number of the first type of sub-areas to be patrolled;
respectively determining first patrol sub-routes corresponding to the first-class sub-areas to be patrolled; the number of times that each sub-region connecting port of the non-end point in the first patrol sub-line is passed is equal to the number of pointed sub-region connecting ports of each sub-region connecting port;
and respectively determining a second patrol sub-route in each second type of sub-area to be patrolled, wherein the second type of sub-area to be patrolled meets the shortest patrol path.
5. The method according to claim 2, characterized in that the number of sub-areas to be patrolled is less than a preset maximum number of patrols.
6. The method of claim 1, further comprising:
determining the number of pointed sub-region connecting ports pointed out by each sub-region connecting port and the number of pointed-in sub-region connecting ports pointed into each sub-region connecting port according to the pointing information, wherein the sub-region connecting ports are not repeatedly counted when the number of pointed-out sub-region connecting ports and the number of pointed-in sub-region connecting ports of each sub-region connecting port are determined;
determining that the area to be patrolled meets the preset Euler area judgment condition according to the pointing information among the sub-area connectors comprises the following steps:
and determining that the area to be patrolled meets the preset Euler area judgment condition according to the number of the pointed sub-area connectors of each sub-area connector and the number of the pointed sub-area connectors.
7. The method according to claim 6, characterized in that when the number of the pointed-out sub-region connectors of each sub-region connector is equal to the number of the pointed-in sub-region connectors, or when the number of the pointed-out sub-region connectors of all sub-region connectors except two sub-region connectors in the region to be patrolled is equal to the number of the pointed-in sub-region connectors, and the difference between the number of the pointed-out sub-region connectors and the number of the pointed-in sub-region connectors of each of the two sub-region connectors satisfies a preset difference condition, it is determined that the region to be patrolled satisfies a preset Euler region judgment condition.
8. A patrol route determination apparatus, characterized in that the apparatus comprises:
the pointing information acquisition module is used for acquiring pointing information between sub-region connectors in the region to be patrolled;
a starting sub-region connector selecting module, configured to select one sub-region connector in the to-be-patrolled region as a starting sub-region connector when it is determined that the to-be-patrolled region meets a preset euler region judgment condition according to the pointing information between the sub-region connectors;
the sequencing information determining module is used for sequentially determining a next sub-region connecting port from the starting sub-region connecting port to a terminal sub-region connecting port according to the pointing information to obtain sequencing information of each sub-region connecting port; the number of times that each sub-area connecting port of the non-terminal point is passed is equal to the number of sub-area connecting ports pointed by each sub-area connecting port;
and the patrol route generating module is used for generating patrol routes of the areas to be patrolled according to the sequencing information of the sub-area connectors.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 7.
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