CN114677068B - Scheduling management method and system for disinfection floor cleaning robot - Google Patents
Scheduling management method and system for disinfection floor cleaning robot Download PDFInfo
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Abstract
The invention relates to the related field of robot scheduling management, and discloses a scheduling management method and a system of a disinfection floor washing robot.
Description
Technical Field
The invention relates to the related field of robot scheduling management, in particular to a scheduling management method and a scheduling management system for a disinfection floor cleaning robot.
Background
The floor cleaning robot is a mechanical device for replacing manpower to clean areas, and the floor cleaning robot in the prior art is capable of disinfecting places while cleaning, and can replace manpower to perform cleaning management work more safely in an emergency.
When the floor washing robot in the prior art works, the mode is mostly that specific working routes are set by people to carry out preset cleaning work, but the cleaning execution mode is large for people such as shopping malls and the like, and people flow distribution is complex, timely and effective cleaning work is difficult to realize, in areas with more people flowing, the cleaning frequency of the robot is too low, and parts of people flow less areas, the robot executes reciprocating unnecessary cleaning work for a long time, and the problem of uneven cleaning capacity distribution is caused.
Disclosure of Invention
The invention aims to provide a scheduling management method and a scheduling management system for a disinfection floor cleaning robot, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a dispatch management system for a sanitizing machine robot comprising:
the system comprises a region monitoring module, a short-time information acquisition library and a monitoring module, wherein the region monitoring module is used for acquiring real-time crowd information in a target monitoring region and storing the real-time crowd information in the short-time information acquisition library, the number of the target monitoring regions is multiple, the multiple target monitoring regions are arranged adjacently, each target monitoring region is correspondingly provided with a preset number of robots, and the real-time crowd information is used for representing the personnel distribution and motion state at a certain moment in the target monitoring region;
the people flow analysis module is used for acquiring the real-time crowd information in the short-time information acquisition library at preset time intervals, performing crowd stacking operation on a plurality of groups of real-time crowd information and performing distribution analysis through a preset crowd analysis model to generate a short-time crowd distribution state, wherein the short-time crowd distribution state comprises regional crowd density and regional density distribution;
the inter-area scheduling module is used for acquiring the area crowd density of a plurality of adjacent target monitoring areas in the time interval, performing total proportion analysis, and performing area attribution repartitioning on the plurality of robots according to the proportion analysis result, wherein the area crowd density is used for representing the total pedestrian volume of the target monitoring areas in the time interval;
and the in-region scheduling module is used for analyzing the region density distribution according to a preset cleaning planning method, generating a region cleaning scheme, dividing short-time cleaning paths for the plurality of robots according to the region cleaning scheme and outputting the short-time cleaning paths, wherein the region density distribution is used for representing the total pedestrian volume of the target monitoring region passing through each position in a time interval.
As a further scheme of the invention: the inter-region scheduling module mainly comprises:
the proportion analysis unit is used for acquiring the regional population densities of a plurality of adjacent target monitoring regions in the time interval, and separately calculating the proportion of each regional population density to the total number of the regional population densities to generate the total regional proportion;
the attribution dividing unit is used for carrying out area attribution re-division on the plurality of robots according to the area total occupation ratio, the area total occupation ratio of the target monitoring area is in direct proportion to the number of the divided robots, in the step of carrying out area attribution re-division on the plurality of robots according to the area total occupation ratio, the number of the robots is measured to be an integer, and the number of the robots divided into at least one target monitoring area is determined.
As a further scheme of the invention: the intra-region scheduling module includes:
the total cleaning path unit is used for calculating and acquiring the total cleaning path area according to the time interval and the number of the robots in the target monitoring area;
a cleaning path distribution unit, configured to distribute the total cleaning path area according to the regional density distribution, so as to generate a regional cleaning scheme, where the size of the cleaning path area distributed at each location in the target monitoring region is proportional to the size of the regional density distribution, and the cleaning path area distributed at each location in the target monitoring region is not zero;
and the single machine scheduling and distributing unit is used for generating a short-time cleaning path according to the regional cleaning scheme simulation, equivalently dividing and outputting the short-time cleaning path to the plurality of robots, and the short-time cleaning path is used for guiding the robots to move.
As a still further scheme of the invention: the people flow analysis module comprises:
the preprocessing unit is used for responding to a preset timer program, acquiring the real-time crowd information in the short-time information acquisition library at the time interval, and acquiring a plurality of groups of staff flow paths according to the real-time crowd information, wherein the staff flow paths are used for representing movement routes of the staff recorded in the real-time crowd information in the target monitoring area;
the data stacking unit is used for performing crowd stacking operation on the plurality of personnel flow paths by taking the target monitoring area as an edge checking reference to generate a stacking result, and the stacking result records all movement routes of personnel passing through the target monitoring area in the area within a time interval;
the crowd density analysis unit is used for counting the personnel flow paths to acquire regional crowd density;
and the density distribution analysis unit is used for carrying out distribution analysis on the stacking result, judging the density degree of the personnel flow paths at different positions in the target monitoring area and acquiring the area density distribution.
As a further scheme of the invention: the short-time information acquisition library comprises a plurality of sub storage units, the sub storage units are arranged in parallel, each sub storage unit is used for storing real-time crowd information acquired in a single time interval, the sub storage units are stored by taking the time interval as a cycle value, and when the real-time crowd information in the sub storage units is read, the real-time crowd information in the sub storage units adjacent to the sub storage units is emptied in a storage time sequence.
The embodiment of the invention aims to provide a scheduling management method of a disinfection and floor cleaning robot, which comprises the following steps:
the method comprises the steps that real-time crowd information in a target monitoring area is obtained and stored in a short-time information acquisition base, the number of the target monitoring areas is multiple, the target monitoring areas are arranged adjacently, each target monitoring area is correspondingly provided with a preset number of robots, and the real-time crowd information is used for representing partial states of people at a certain moment in the target monitoring area;
acquiring the real-time crowd information in the short-time information acquisition library at preset time intervals, performing crowd stacking operation on a plurality of groups of real-time crowd information and performing distribution analysis through a preset crowd analysis model to generate a short-time crowd distribution state, wherein the short-time crowd distribution state comprises regional crowd density and regional density distribution;
acquiring the regional crowd density of a plurality of adjacent target monitoring regions in the time interval, performing total proportion analysis, and performing region attribution repartition on the plurality of robots according to the proportion analysis result, wherein the regional crowd density is used for representing the total pedestrian volume of the target monitoring regions in the time interval;
analyzing the area density distribution according to a preset cleaning planning method to generate an area cleaning scheme, dividing short-time cleaning paths for the plurality of robots according to the area cleaning scheme and outputting the short-time cleaning paths, wherein the area density distribution is used for representing the total flow of people passing through each position of the target monitoring area in a time interval.
As a further scheme of the invention: the step of obtaining the regional crowd density of the adjacent target monitoring regions in the time interval, performing total proportion analysis, and performing region attribution repartitioning on the robots according to the proportion analysis result mainly comprises:
acquiring the regional population densities of a plurality of adjacent target monitoring regions in the time interval, and separately calculating the proportion of each regional population density to the total number of the regional population densities to generate a regional total proportion;
and according to the total area occupation ratio, carrying out area attribution re-division on the plurality of robots, wherein the total area occupation ratio of the target monitoring area is in direct proportion to the number of the divided robots, in the step of carrying out area attribution re-division on the plurality of robots according to the total area occupation ratio, the number of the robots is measured to be an integer, and the number of the robots divided into at least one target monitoring area is determined.
As a further scheme of the invention: the step of analyzing the area density distribution according to a preset cleaning planning method to generate an area cleaning scheme, and dividing and outputting short-time cleaning paths for the plurality of robots according to the area cleaning scheme comprises the following steps:
calculating and acquiring the total cleaning path area according to the time interval and the number of the robots in the target monitoring area;
distributing the total cleaning path area according to the regional density distribution to generate a regional cleaning scheme, wherein the cleaning path area distributed at each position in the target monitoring region is in direct proportion to the regional density distribution, and the cleaning path area distributed at each position in the target monitoring region is not zero;
and generating a short-time cleaning path according to the region cleaning scheme in a simulation mode, equally dividing and outputting the short-time cleaning path to the plurality of robots, wherein the short-time cleaning path is used for guiding the robots to move.
Compared with the prior art, the invention has the beneficial effects that: through the regional monitoring module, people flow analysis module, the setting of scheduling module and regional interior scheduling module between the region, the subregion management to large-scale public place has been realized, carry out the monitoring that personnel flow to a plurality of regions with preset time cycle, thereby combine a plurality of regions of whole public place to carry out the dispatch reallocation of cleaning machines people, and the dispatch management to the clean execution frequency of a certain minizone region, compare in the definite robot cleaning mode of clean route among the prior art, can make the energy consumption turn into more useful work, promote effective clean proportion, can improve the dynamic capture and the high-efficient clean execution to key clean region simultaneously.
Drawings
FIG. 1 is a block diagram of the components of a dispatch management system for a sanitizing and cleaning robot.
FIG. 2 is a block diagram of the components of an inter-zone dispatch module in a dispatch management system for a sanitizer robot.
FIG. 3 is a block diagram of the components of an in-zone dispatch module in a dispatch management system for a sanitizer robot.
FIG. 4 is a block diagram of the human flow analysis module in the dispatch management system of a sanitizing robot.
FIG. 5 is a block flow diagram of a method for dispatch management of a sanitizing robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention 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 invention and are not intended to limit the invention.
Specific embodiments of the present invention are described in detail below with reference to specific examples.
As shown in fig. 1, a dispatch management system for a sanitizing robot according to one embodiment of the present invention comprises:
the regional monitoring module 100 is used for acquiring real-time crowd information in a target monitoring region and storing the real-time crowd information in a short-time information acquisition library, the number of the target monitoring regions is multiple, a plurality of the target monitoring regions are adjacently arranged, each target monitoring region is correspondingly provided with a preset number of robots, and the real-time crowd information is used for representing personnel distribution and motion states at a certain moment in the target monitoring region.
In this embodiment, the number of the target monitoring areas is multiple, where the target monitoring areas are formed by dividing a certain public place, and based on convenience of subsequent processing and explanation, the target monitoring modules in the application are defaulted to have substantially the same area (of course, different processing requirements may be set based on actual use), at this time, in subsequent data, part of the data may need to be further processed to be in the same proportional area, and the number of the robots is also allocated based on the area proportion of the target monitoring areas; the real-time crowd information is data generated by tracking and recording people in a target monitoring area and corresponds to position information of each person at a certain time point.
The people flow analysis module 300 is used for acquiring the real-time crowd information in the short-time information acquisition library at preset time intervals, performing crowd stacking operation on the real-time crowd information and performing distribution analysis through a preset crowd analysis model to generate a short-time crowd distribution state, wherein the short-time crowd distribution state comprises regional crowd density and regional density distribution.
In this embodiment, the time interval is a preset time node for scheduling management, and scheduling control on the floor washing robot is continuously updated at a certain time interval, so that cleaning work with higher timeliness and higher efficiency and pertinence in public places is realized, and paths of all people passing through the target monitoring area in the time period occupied by the time interval can be displayed in the same picture or space coordinate system through stacking operation, so as to facilitate subsequent acquisition of area population density and area density distribution (mainly processing the area density distribution), where the area density distribution refers to the total number of people passing through each position in the target monitoring area in the time interval, that is, the density on the time axis.
And the inter-area scheduling module 500 is configured to obtain the area crowd density of the adjacent target monitoring areas in the time interval, perform total proportion analysis, and perform area affiliation repartitioning on the multiple robots according to the proportion analysis result, where the area crowd density is used to represent the total pedestrian volume of the target monitoring areas in the time interval.
In this embodiment, the function of this process is to perform a proportion analysis on the total number of people passing through in a time interval in a plurality of adjacent areas, and perform a new area division on the robots in a plurality of adjacent target monitoring areas according to the result of the proportion analysis, for example, if the human flow in a certain target monitoring area is large in the time interval, and if the human flow in an adjacent target monitoring area is small, the robot in the small target monitoring area can be allocated to the large area.
And the in-region scheduling module 700 is configured to analyze the regional density distribution according to a preset cleaning planning method, generate a regional cleaning scheme, divide and output short-time cleaning paths for the plurality of robots according to the regional cleaning scheme, where the regional density distribution is used to represent a total pedestrian volume that the target monitoring region passes through at each position in a time interval.
In this embodiment, this procedure is used to perform a step of assigning the work of the robots in the target monitoring area after the robot assignment is performed, where the step is performed according to an area density distribution, and it is previously known that the area density distribution refers to the total number of people passing by a certain area in a time interval, that is, the frequency of passing a point, when the point is frequently passed, it indicates that dirt is likely to accumulate at the point, more cleaning is required (that is, the robot needs to move in the area for multiple times), so as to regularly generate an area cleaning scheme, and generate a short-time cleaning path for guiding the robot to move according to the scheme and output the short-time cleaning path to the robot to guide the robot work.
As shown in fig. 2, as another preferred embodiment of the present invention, the inter-area scheduling module 500 mainly includes:
a proportion analyzing unit 501, configured to obtain the area population densities of a plurality of adjacent target monitoring areas in the time interval, and separately calculate a proportion of each area population density to a total number of the area population densities, so as to generate a total area proportion.
The attribution dividing unit 502 is configured to perform area attribution repartition on the multiple robots according to the area total occupation ratio, the area total occupation ratio of the target monitoring area is proportional to the number of the divided robots, in the step of performing area attribution repartition on the multiple robots according to the area total occupation ratio, the number of the robots is measured as an integer, and the number of the robots divided in the target monitoring area is at least one.
In this embodiment, the inter-area scheduling module 500 is roughly functionally divided, and in a manner of further explaining the operation of the inter-area scheduling module, in the process of subdividing the robot into each target monitoring area, it still needs to be ensured that each target monitoring area still includes at least one robot, and based on coverage that can complete single cleaning in the target monitoring area within a time interval, certainly, the number may be greater than a certain number, which is certainly smaller than the maximum number in the target monitoring area, and in the process of allocation, the robot with the lowest remaining required number may not participate in allocation, so as to ensure that normal single coverage cleaning operation in the area is affected due to being divided due to a system calculation error and the like.
As shown in fig. 3, as another preferred embodiment of the present invention, the intra-area scheduling module 700 includes:
a total cleaning path unit 701, configured to calculate and obtain a total cleaning path area according to the time interval and the number of the robots in the target monitoring area.
A cleaning path allocating unit 702, configured to allocate the total cleaning path area according to the area density distribution, so as to generate an area cleaning scheme, where the size of the cleaning path area allocated at each location in the target monitoring area is proportional to the size of the area density distribution, and the cleaning path area allocated at each location in the target monitoring area is not zero.
And the single-machine scheduling and distributing unit 703 is configured to generate a short-time cleaning path according to the area cleaning scheme in a simulation manner, and equally divide and output the short-time cleaning path to the multiple robots, where the short-time cleaning path is used to guide the robots to move.
In this embodiment, the specific area cleaning scheme is the calculation of the cleaning path area, where the calculation of the total amount of the cleaning path area is the cleaning coverage area that can be realized by the plurality of distributed robots in the time interval; when the cleaning path area is distributed, when a person passing a certain position for a certain time is more, the cleaning path area needs to be distributed more (that is, the cleaning path area needs to be distributed for two times by multiple cleaning, for example, if 1 square meter is taken as a basic unit, the cleaning path area of 2 square meters is distributed, which means that the cleaning path area is distributed for two times), and finally, a short-time cleaning path for controlling the movement of the robot is generated according to the distribution mode of the cleaning path area, that is, the region cleaning scheme and is distributed to a plurality of robots for execution.
As shown in fig. 4, as another preferred embodiment of the present invention, the people flow analysis module 300 includes:
the preprocessing unit 301 is configured to respond to a preset timer program, acquire the real-time crowd information in the short-time information acquisition library at the time interval, and acquire a plurality of groups of staff flow paths according to the real-time crowd information, where the staff flow paths are used to represent movement routes of staff recorded in the real-time crowd information in the target monitoring area.
A data stacking unit 302, configured to perform a crowd stacking operation on the multiple personnel flow paths with the target monitoring area as an edge calibration reference, and generate a stacking result, where the stacking result records movement routes of all personnel passing through the target monitoring area in the area within a time interval.
And the crowd density analysis unit 303 is configured to count the staff flow paths to obtain the regional crowd density.
And a density distribution analysis unit 304, configured to perform distribution analysis on the stacking result, determine the density of the staff flow paths at different positions in the target monitoring area, and obtain area density distribution.
As another preferred embodiment of the present invention, the short-time information collection library includes a plurality of sub-storage units, the plurality of sub-storage units are arranged in parallel, each sub-storage unit is configured to store real-time crowd information acquired in a single time interval, the plurality of sub-storage units are stored with the time interval as a cycle value, and in a storage time sequence, when the real-time crowd information in the sub-storage unit is read, the real-time crowd information in a previous sub-storage unit adjacent to the sub-storage unit is emptied.
In this embodiment, the parallel arrangement of the multiple sub-storage units and the round-robin operation mode can ensure the continuity of the system operation, and can continuously perform multiple acquisition at a time interval, thereby avoiding the long blank window period of the system scheduling operation.
As shown in fig. 5, the present invention also provides a dispatch management method for a floor sanitizing robot, comprising:
s200, acquiring real-time crowd information in a target monitoring area, and storing the real-time crowd information in a short-time information acquisition library, wherein the number of the target monitoring areas is multiple, a plurality of the target monitoring areas are adjacently arranged, each target monitoring area is correspondingly provided with a preset number of robots, and the real-time crowd information is used for representing the partial state of people at a certain moment in the target monitoring area.
S400, acquiring the real-time crowd information in the short-time information acquisition library at preset time intervals, carrying out crowd stacking operation on a plurality of groups of the real-time crowd information, carrying out distribution analysis through a preset crowd analysis model, and generating a short-time crowd distribution state, wherein the short-time crowd distribution state comprises regional crowd density and regional density distribution.
S600, obtaining the regional crowd density of a plurality of adjacent target monitoring regions in the time interval, carrying out total proportion analysis, and carrying out region attribution repartition on the plurality of robots according to the proportion analysis result, wherein the regional crowd density is used for representing the total pedestrian volume of the target monitoring regions in the time interval.
And S800, analyzing the area density distribution according to a preset cleaning planning method to generate an area cleaning scheme, dividing short-time cleaning paths for the plurality of robots according to the area cleaning scheme and outputting the short-time cleaning paths, wherein the area density distribution is used for representing the total pedestrian volume of the target monitoring area passing through each position in a time interval.
As another preferred embodiment of the present invention, the step of obtaining the regional population density of the adjacent target monitoring regions in the time interval and performing total proportion analysis, and the step of performing regional attribution repartition on the plurality of robots according to the proportion analysis result mainly includes:
and acquiring the regional population densities of a plurality of adjacent target monitoring regions in the time interval, and independently calculating the proportion of each regional population density to the total number of the regional population densities to generate the regional total proportion.
And according to the total area occupation ratio, carrying out area attribution re-division on the plurality of robots, wherein the total area occupation ratio of the target monitoring area is in direct proportion to the number of the divided robots, in the step of carrying out area attribution re-division on the plurality of robots according to the total area occupation ratio, the number of the robots is measured to be an integer, and the number of the robots divided into at least one target monitoring area is determined.
As another preferred embodiment of the present invention, the step of analyzing the area density distribution according to a preset cleaning planning method to generate an area cleaning plan, and dividing and outputting short-time cleaning paths for the plurality of robots according to the area cleaning plan includes:
and calculating and obtaining the total cleaning path area according to the time interval and the number of the robots in the target monitoring area.
Distributing the total cleaning path area according to the area density distribution to generate an area cleaning scheme, wherein the cleaning path area distributed at each position in the target monitoring area is in direct proportion to the area density distribution, and the cleaning path area distributed at each position in the target monitoring area is not zero.
And generating a short-time cleaning path according to the region cleaning scheme in a simulation mode, equally dividing and outputting the short-time cleaning path to the plurality of robots, wherein the short-time cleaning path is used for guiding the robots to move.
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).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. A dispatch management system for a sanitizing and cleaning robot, comprising:
the system comprises a region monitoring module, a short-time information acquisition library and a monitoring module, wherein the region monitoring module is used for acquiring real-time crowd information in a target monitoring region and storing the real-time crowd information in the short-time information acquisition library, the number of the target monitoring regions is multiple, the multiple target monitoring regions are arranged adjacently, each target monitoring region is correspondingly provided with a preset number of robots, and the real-time crowd information is used for representing the personnel distribution and motion state at a certain moment in the target monitoring region;
the crowd stacking operation is used for displaying paths of all people passing through a target monitoring area in a time period occupied by the time interval in the same picture or space coordinate system;
the inter-area scheduling module is used for acquiring the area crowd density of a plurality of adjacent target monitoring areas in the time interval, performing total proportion analysis, and performing area attribution repartitioning on the plurality of robots according to the proportion analysis result, wherein the area crowd density is used for representing the total pedestrian volume of the target monitoring areas in the time interval;
and the in-region scheduling module is used for analyzing the region density distribution according to a preset cleaning planning method, generating a region cleaning scheme, dividing short-time cleaning paths for the plurality of robots according to the region cleaning scheme and outputting the short-time cleaning paths, wherein the region density distribution is used for representing the total pedestrian volume of the target monitoring region passing through each position in a time interval.
2. The dispatch management system for a sanitizing and cleaning robot, as set forth in claim 1, wherein said inter-zone dispatch module consists essentially of:
the proportion analysis unit is used for acquiring the regional population densities of a plurality of adjacent target monitoring regions in the time interval, and separately calculating the proportion of each regional population density to the total number of the regional population densities to generate the total regional proportion;
the attribution dividing unit is used for carrying out area attribution re-division on the plurality of robots according to the area total occupation ratio, the area total occupation ratio of the target monitoring area is in direct proportion to the number of the divided robots, in the step of carrying out area attribution re-division on the plurality of robots according to the area total occupation ratio, the number of the robots is measured to be an integer, and the number of the robots divided into at least one target monitoring area is determined.
3. The dispatch management system for a sanitizing machine robot, as recited in claim 2, wherein the in-zone dispatch module comprises:
the total cleaning path unit is used for calculating and acquiring the total cleaning path area according to the time interval and the number of the robots in the target monitoring area;
the cleaning path distribution unit is used for distributing the total cleaning path area according to the area density distribution to generate an area cleaning scheme, the size of the cleaning path area distributed at each position in the target monitoring area is in direct proportion to the size of the area density distribution, and the cleaning path area distributed at each position in the target monitoring area is not zero;
and the single machine scheduling and distributing unit is used for generating a short-time cleaning path according to the regional cleaning scheme simulation, equivalently dividing and outputting the short-time cleaning path to the plurality of robots, and the short-time cleaning path is used for guiding the robots to move.
4. The dispatch management system for a sanitizing robot according to claim 1 wherein said people flow analysis module comprises:
the preprocessing unit is used for responding to a preset timer program, acquiring the real-time crowd information in the short-time information acquisition library at the time interval, and acquiring a plurality of groups of staff flow paths according to the real-time crowd information, wherein the staff flow paths are used for representing movement routes of the staff recorded in the real-time crowd information in the target monitoring area;
the data stacking unit is used for performing crowd stacking operation on the plurality of personnel flow paths by taking the target monitoring area as an edge checking reference to generate a stacking result, and the stacking result records all movement routes of personnel passing through the target monitoring area in the area within a time interval;
the crowd density analysis unit is used for counting the personnel flow paths to acquire regional crowd density;
and the density distribution analysis unit is used for carrying out distribution analysis on the stacking result, judging the density degree of the personnel flow paths at different positions in the target monitoring area and acquiring the area density distribution.
5. The dispatch management system for a robot cleaner according to claim 1, wherein the short-term information collection library comprises a plurality of sub-storage units, the plurality of sub-storage units are arranged in parallel, each sub-storage unit is configured to store the real-time crowd information acquired in a single time interval, the plurality of sub-storage units are stored with the time interval as a cycle value, and when the real-time crowd information in the sub-storage unit is read, the real-time crowd information in the previous sub-storage unit adjacent to the sub-storage unit is emptied in the storage time sequence.
6. A scheduling management method of a disinfection floor cleaning robot is characterized by comprising the following steps:
the method comprises the steps that real-time crowd information in a target monitoring area is obtained and stored in a short-time information acquisition base, the number of the target monitoring areas is multiple, the target monitoring areas are arranged adjacently, each target monitoring area is correspondingly provided with a preset number of robots, and the real-time crowd information is used for representing partial states of people at a certain moment in the target monitoring area;
acquiring the real-time crowd information in the short-time information acquisition library at preset time intervals, carrying out crowd stacking operation on a plurality of groups of real-time crowd information and carrying out distribution analysis through a preset crowd analysis model to generate a short-time crowd distribution state, wherein the short-time crowd distribution state comprises regional crowd density and regional density distribution, and the crowd stacking operation is used for displaying paths of all people passing through a target monitoring region in a time period occupied by the time intervals in the same picture or space coordinate system;
acquiring the regional crowd density of a plurality of adjacent target monitoring regions in the time interval, performing total proportion analysis, and performing region attribution repartition on the plurality of robots according to the proportion analysis result, wherein the regional crowd density is used for representing the total pedestrian volume of the target monitoring regions in the time interval;
analyzing the area density distribution according to a preset cleaning planning method to generate an area cleaning scheme, dividing short-time cleaning paths for the plurality of robots according to the area cleaning scheme and outputting the short-time cleaning paths, wherein the area density distribution is used for representing the total flow of people passing through each position of the target monitoring area in a time interval.
7. The method of claim 6, wherein the step of obtaining the regional population density of the adjacent target monitoring regions in the time interval and performing a total proportion analysis, and the step of performing the region attribution repartitioning of the plurality of robots according to the proportion analysis mainly comprises:
acquiring the regional population densities of a plurality of adjacent target monitoring regions in the time interval, and separately calculating the proportion of each regional population density to the total number of the regional population densities to generate a regional total proportion;
and according to the total area occupation ratio, carrying out area attribution re-division on the plurality of robots, wherein the total area occupation ratio of the target monitoring area is in direct proportion to the number of the divided robots, in the step of carrying out area attribution re-division on the plurality of robots according to the total area occupation ratio, the number of the robots is measured to be an integer, and the number of the robots divided into at least one target monitoring area is determined.
8. The dispatch management method for a floor scrubbing robot according to claim 7, wherein the step of analyzing the area density distribution according to a preset cleaning planning method, generating an area cleaning plan, and dividing and outputting short-time cleaning paths for a plurality of the robots according to the area cleaning plan comprises:
calculating and acquiring the total cleaning path area according to the time interval and the number of the robots in the target monitoring area;
distributing the total cleaning path area according to the regional density distribution to generate a regional cleaning scheme, wherein the cleaning path area distributed at each position in the target monitoring region is in direct proportion to the regional density distribution, and the cleaning path area distributed at each position in the target monitoring region is not zero;
and generating a short-time cleaning path according to the region cleaning scheme in a simulation mode, equally dividing and outputting the short-time cleaning path to the plurality of robots, wherein the short-time cleaning path is used for guiding the robots to move.
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| CN107205221A (en) * | 2017-04-18 | 2017-09-26 | 浙江传媒学院 | A kind of implementation method of exhibitions exhibition position stream of people's detecting system based on LBS |
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| CN107205221A (en) * | 2017-04-18 | 2017-09-26 | 浙江传媒学院 | A kind of implementation method of exhibitions exhibition position stream of people's detecting system based on LBS |
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