CN108877115A - Evacuate guidance method and robot - Google Patents
Evacuate guidance method and robot Download PDFInfo
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- CN108877115A CN108877115A CN201810927710.7A CN201810927710A CN108877115A CN 108877115 A CN108877115 A CN 108877115A CN 201810927710 A CN201810927710 A CN 201810927710A CN 108877115 A CN108877115 A CN 108877115A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
- G08B7/066—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources guiding along a path, e.g. evacuation path lighting strip
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/06—Electric actuation of the alarm, e.g. using a thermally-operated switch
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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Abstract
The present invention provides a kind of evacuation guidance method and robots, wherein this method includes：Obtain danger sources information；Obtain peripheral map；Evacuation route is generated according to the danger sources information and the peripheral map；Personnel are guided based on the evacuation route.Using the present invention, evacuation guide, the personal safety of support personnel can be carried out to personnel on danger source periphery.
Description
Technical field
The present invention relates to artificial intelligence, and in particular to a kind of evacuation guidance method and robot.
Background technique
As the application demand of robot is continuously increased, artificial intelligence the relevant technologies are constantly progressive, the growth of hardware performance,
Service robot starts to move towards factory from laboratory in recent years, and develops from simple function to multifunctional personal robot.It mentions
To robot, a word often referred to recently is artificial intelligence.Artificial intelligence is the intelligence realized with computer similar to people
One subject of energy behavior.Robot itself is one of ultimate application target for artificial intelligence.
Traditional artificial intelligence is as a subject, the Dartmouth meeting originating from the 1950s, passes through later
It rises and fall sharply and quickly several times, achievement abundant is had accumulated in basic theory and method.From the Symbolic Computation System of early stage, it is to expert
System, then to the machine learning that the nineties grows up, big data analysis can be the scope of artificial intelligence.In image, language
The fields such as sound, search, data mining, social computing, and derived some relevant application studies.Wherein contacted with robot
It include closely more computer vision, voice and natural language processing, there are also intelligent bodies (Agent) etc..
It can consider following perception, cognition according to the progress of previous robot field and to the preliminary analysis of application
Technology will realize application.
1, three-dimensional navigation location technology.Regardless of robot, as long as removable, that is, need in family or other environment
Carry out navigator fix.Wherein SLAM (Simultaneous Localization and Ming) technology can carry out simultaneously positioning and
Figure is built, there are many technological accumulation in terms of academic research.But for real system, due to real-time low cost (such as nothing
Method uses more expensive radar equipment) requirement and home environment dynamic change (putting for article), thus it is fixed to navigation
Position technology proposes requirements at the higher level, still needs to further research and develop.
2, visual perception technology.It wherein include recognition of face, gesture identification, object identification skill related to Emotion identification etc.
Art.Visual perception technology is a very important technology of robot and people's interaction.
3, language interaction technique.It wherein include speech recognition, speech production, natural language understanding and Intelligent dialogue system
Deng.
4, character recognition technology.There are many text informations in life, such as the label information of books and newspapers and object, this also requires machine
Device people can carry out Text region by camera.With after traditional scanning identify text compared with, can by camera come
Carry out the identification of text.
5, cognitive techniques.Robot needs to be done step-by-step the cognitive functions such as planning, reasoning, memory, study and prediction, thus
Become more intelligent.
In terms of current present Research, the key technology that service robot faces has rapid progress, but there are also quite
More problems will solve.
Summary of the invention
The embodiment of the invention provides a kind of evacuation guidance method and robots, can carry out on danger source periphery to personnel
Evacuation is guided, the personal safety of support personnel.
The purpose of the embodiment of the present invention is that be achieved through the following technical solutions：
A kind of evacuation guidance method, including：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
Optionally, the danger source is scene of fire；The acquisition danger sources information includes：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
Optionally, the danger source is scene of fire；The acquisition danger sources information includes：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire,
The temperature of the smog of the scene of fire and the cooperation robot position.
Optionally, the method also includes：
The evacuation route is sent to cooperation robot, so that the cooperation robot is based on the evacuation route pair
Personnel guide.
Optionally, the acquisition peripheral map includes：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
A kind of robot, including：
Information acquisition unit, for obtaining danger sources information；
Map acquiring unit, for obtaining peripheral map；
Route Generation unit, danger sources information and the map for being obtained according to the information acquisition unit obtain single
The peripheral map that member obtains generates evacuation route；
Unit is guided, the evacuation route for being generated based on the Route Generation unit guides personnel.
Optionally, the danger source is scene of fire；The information acquisition unit is specifically used for：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
Optionally, the danger source is scene of fire；The information acquisition unit is specifically used for：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire,
The temperature of the smog of the scene of fire and the cooperation robot position.
Optionally, the robot further includes：
Transmission unit, the evacuation route for generating the Route Generation unit are sent to cooperation robot, so that
The cooperation robot is based on the evacuation route and guides personnel.
Optionally, the map acquiring unit is specifically used for：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
From the above it can be seen that using the available danger sources information of robot provided by the invention and peripheral map, then basis
The danger sources information and the peripheral map generate evacuation route, to be guided based on the evacuation route personnel；
Since evacuation route has comprehensively considered danger sources information and peripheral map, so that the evacuation route can be safely to personnel
It is guided, has sufficiently ensured the personal safety of personnel.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of evacuation guidance method provided by one embodiment of the present invention；
Fig. 2 is the structure chart of robot provided by one embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Evacuation guidance method provided in an embodiment of the present invention is first introduced, Fig. 1 describes provided by one embodiment of the present invention
Evacuate the process of guidance method.Wherein, this method can be applied to robot.As shown in Figure 1, this method may include：
101, danger sources information is obtained.
Wherein, danger source can be scene of fire, and floods scene, landslide scene, typhoon is live, earthquake field, and dilapidated house is existing
, mud-rock flow scene, dangerous material scene etc. can be to the natural calamity scene and non-natural disaster that personal safety causes damages
Scene.
The mode that robot obtains danger sources information can be the sensor based on itself, such as imaging sensor, and smog passes
Sensor, temperature sensor etc. sensor are obtained；It can also be transmitted across based on cooperation robot or other server apparatus
It is obtained in the information come.Wherein, according to the difference of danger source, the danger sources information for needing to obtain has difference.
For example, the danger sources information can be scene of fire image, smog feelings when danger source is scene of fire
Condition, temperature of current location etc..At this point, the acquisition danger sources information may include：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
In another embodiment, the acquisition danger sources information may include：Receive what cooperation robot was sent
Danger sources information, the danger sources information include：The image of the scene of fire, the smog of the scene of fire and the association
Make the temperature of robot position.
It is understood that robot can receive association while oneself obtains danger sources information by self-sensor device
Make the danger sources information that robot or server are sent, so as to the comprehensive danger sources information got by sensor and connects
The danger sources information of receipts is handled.
In one embodiment, robot can only acquire an image when obtaining the image of scene of fire, can also
To carry out Image Acquisition to the scene of fire from multiple angles, to obtain the multiple of the scene of fire with different angle
Image.Wherein, can more accurately the case where scene of fire be judged by obtaining multiple images.
102, peripheral map is obtained.
Wherein, in order to carrying out evacuation guide to personnel, it is desirable to be able to the peripheral map of current location is obtained, so as to
Enough routes that evacuation is determined based on peripheral map.
In one embodiment, the acquisition peripheral map may include：Described in map server acquisition
Peripheral map.The map server can be the map server of profession, such as *** map server, Google Maps
Server etc., naturally it is also possible to be privately owned map server, such as do the map server of operator etc. to navigate.Such as
Fruit is that indoors, the map server can be the server for storing building blueprint.
It is understood that robot oneself can also generate the peripheral map, at this point, the acquisition is circumferentially
Figure may include：Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.Wherein, described
Scanning oneself can carry out, and can also be completed jointly by multiple cooperation robots.The side of three-dimensional modeling can be used by generating map
Formula, wherein also needing to use image recognition technology.
103, evacuation route is generated according to the danger sources information and the peripheral map.
Wherein, it when generating evacuation route, can be carried out using pre-set algorithm.Wherein, it needs in view of danger
Source information and peripheral map, for example, when danger source is scene of fire, when described first evacuation route, needs to guide personnel
To the separate scene of fire, next needs to consider wind direction, avoids the evacuation route that from blowing to evacuating personnel to smog
Place.
Wherein, the algorithm can be generated by way of artificial intelligence.Algorithm provided in an embodiment of the present invention can be with
It is to be realized based on neural network model, such as can be convolutional neural networks (CNN：Convolutional Neural
Network) model or Recognition with Recurrent Neural Network (RNN：Recurrent Neural Networks) model, or be also possible to
Deep neural network (DNN：Deep Neural Networks) model.
103, personnel are guided based on the evacuation route.
Wherein, guiding personnel can be by sound, light, and gesture etc. mode carries out.
In one embodiment, the guide can also be carried out by cooperation robot, at this point, the robot
The evacuation route can also be sent to cooperation robot, so that the cooperation robot is based on the evacuation route to people
Member is guided.
From the above it can be seen that using evacuation guidance method provided by the invention, the available danger sources information of robot and periphery
Then map generates evacuation route according to the danger sources information and the peripheral map, to be based on the evacuation route pair
Personnel guide；Since evacuation route has comprehensively considered danger sources information and peripheral map, thus the evacuation route energy
It is enough that safely personnel are guided, sufficiently ensure the personal safety of personnel.
In one embodiment of the invention, for the algorithm in neural network, neural network can be by multiple minds
It is formed through member.By taking danger source is scene of fire as an example, in the neural network, the algorithm of the generation evacuation route can be with
It is expressed as the calculating formula：
M=f (p+ λ)=f ((Ap1+Bp2+Cp3)+Dλ)
Wherein, m indicates the evacuation route generated, and p indicates the danger sources information obtained, wherein p1Indicate danger sources information
In image information, p2Indicate the smog information in danger sources information, p3Indicate the temperature information in danger sources information；λ expression obtains
The peripheral map taken, what f () was indicated is the corresponding activation primitive of neuron, and A, B, C and D are the corresponding module ginsengs of activation primitive
Number.In one embodiment, activation primitive f () specifically can be sigmoid function, the i.e. shape that f () can be expressed as
Formula：
Wherein, the module parameter of activation primitive f () is trained in advance, and module parameter A has in one embodiment
Body can be by training function training to obtain as follows：
Wherein, M is the parameter of trained function, and N is danger sources information and the corresponding quantity of peripheral map in training set, pn
It is danger sources information in training set, λnIt is the peripheral map in training set.
Fig. 2 describes the structure that robot is guided in a kind of evacuation provided by one embodiment of the present invention, wherein the robot
The evacuation guidance method of previous embodiment offer is provided.As shown in Fig. 2, the robot may include：
Information acquisition unit 201, for obtaining danger sources information.
Wherein, danger source can be scene of fire, and floods scene, landslide scene, typhoon is live, earthquake field, and dilapidated house is existing
, mud-rock flow scene, dangerous material scene etc. can be to the natural calamity scene and non-natural disaster that personal safety causes damages
Scene.
The mode that robot obtains danger sources information can be the sensor based on itself, such as imaging sensor, and smog passes
Sensor, temperature sensor etc. sensor are obtained；It can also be transmitted across based on cooperation robot or other server apparatus
It is obtained in the information come.Wherein, according to the difference of danger source, the danger sources information for needing to obtain has difference.
For example, the danger sources information can be scene of fire image, smog feelings when danger source is scene of fire
Condition, temperature of current location etc..At this point, the acquisition danger sources information may include：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
In another embodiment, the acquisition danger sources information may include：Receive what cooperation robot was sent
Danger sources information, the danger sources information include：The image of the scene of fire, the smog of the scene of fire and the association
Make the temperature of robot position.
It is understood that robot can receive association while oneself obtains danger sources information by self-sensor device
Make the danger sources information that robot or server are sent, so as to the comprehensive danger sources information got by sensor and connects
The danger sources information of receipts is handled.
In one embodiment, robot can only acquire an image when obtaining the image of scene of fire, can also
To carry out Image Acquisition to the scene of fire from multiple angles, to obtain the multiple of the scene of fire with different angle
Image.Wherein, can more accurately the case where scene of fire be judged by obtaining multiple images.
Map acquiring unit 202, for obtaining peripheral map.
Wherein, in order to carrying out evacuation guide to personnel, it is desirable to be able to the peripheral map of current location is obtained, so as to
Enough routes that evacuation is determined based on peripheral map.
In one embodiment, the acquisition peripheral map may include：Described in map server acquisition
Peripheral map.The map server can be the map server of profession, such as *** map server, Google Maps
Server etc., naturally it is also possible to be privately owned map server, such as do the map server of operator etc. to navigate.Such as
Fruit is that indoors, the map server can be the server for storing building blueprint.
It is understood that robot oneself can also generate the peripheral map, at this point, the acquisition is circumferentially
Figure may include：Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.Wherein, described
Scanning oneself can carry out, and can also be completed jointly by multiple cooperation robots.The side of three-dimensional modeling can be used by generating map
Formula, wherein also needing to use image recognition technology.
Route Generation unit 203, danger sources information and the map for being obtained according to the information acquisition unit 201
The peripheral map that acquiring unit 202 obtains generates evacuation route.
Wherein, it when generating evacuation route, can be carried out using pre-set algorithm.Wherein, it needs in view of danger
Source information and peripheral map, for example, when danger source is scene of fire, when described first evacuation route, needs to guide personnel
To the separate scene of fire, next needs to consider wind direction, avoids the evacuation route that from blowing to evacuating personnel to smog
Place.
Wherein, the algorithm can be generated by way of artificial intelligence.Algorithm provided in an embodiment of the present invention can be with
It is to be realized based on neural network model, such as can be convolutional neural networks (CNN：Convolutional Neural
Network) model or Recognition with Recurrent Neural Network (RNN：Recurrent Neural Networks) model, or be also possible to
Deep neural network (DNN：Deep Neural Networks) model.
Unit 204 is guided, the evacuation route for being generated based on the Route Generation unit 203 guides personnel.
Wherein, guiding personnel can be by sound, light, and gesture etc. mode carries out.
In one embodiment, the guide can also be carried out by cooperation robot, at this point, the robot
The evacuation route can also be sent to cooperation robot, so that the cooperation robot is based on the evacuation route to people
Member is guided.
From the above it can be seen that using the available danger sources information of robot provided by the invention and peripheral map, then basis
The danger sources information and the peripheral map generate evacuation route, to be guided based on the evacuation route personnel；
Since evacuation route has comprehensively considered danger sources information and peripheral map, so that the evacuation route can be safely to personnel
It is guided, has sufficiently ensured the personal safety of personnel.
Therefore, in one embodiment of the invention, if the danger source is scene of fire；The information acquisition unit
201 can be specifically used for：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
In one embodiment of the invention, the robot can also include：
Transmission unit, the evacuation route for generating the Route Generation unit 203 are sent to cooperation robot, so that
The cooperation robot is obtained to guide personnel based on the evacuation route.
In one embodiment of the invention, the danger source is scene of fire；The information acquisition unit 201 can have
Body is used for：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire,
The temperature of the smog of the scene of fire and the cooperation robot position.
In one embodiment of the invention, the map acquiring unit 202 can be specifically used for：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
The contents such as the information exchange between each unit module, implementation procedure that above-mentioned robot includes, due to the present invention
Embodiment of the method is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, above-mentioned program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, above-mentioned storage medium can be magnetic
Dish, CD, read-only memory (ROM：Read-Only Memory) or random access memory (RAM：Random
Access Memory) etc..
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its thought of the invention；At the same time, for those skilled in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (10)
1. a kind of evacuation guidance method, which is characterized in that including：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
2. the method as described in claim 1, which is characterized in that the danger source is scene of fire；The acquisition danger source letter
Breath includes：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
3. the method as described in claim 1, which is characterized in that the danger source is scene of fire；The acquisition danger source letter
Breath includes：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire, it is described
The temperature of the smog of scene of fire and the cooperation robot position.
4. method a method according to any one of claims 1-3, which is characterized in that the method also includes：
The evacuation route is sent to cooperation robot, so that the cooperation robot is based on the evacuation route to personnel
It is guided.
5. method a method according to any one of claims 1-3, which is characterized in that the acquisition peripheral map includes：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
6. a kind of robot, which is characterized in that including：
Information acquisition unit, for obtaining danger sources information；
Map acquiring unit, for obtaining peripheral map；
Route Generation unit, danger sources information and the map acquiring unit for being obtained according to the information acquisition unit obtain
The peripheral map taken generates evacuation route；
Unit is guided, the evacuation route for being generated based on the Route Generation unit guides personnel.
7. robot as claimed in claim 6, which is characterized in that the danger source is scene of fire；The acquisition of information list
Member is specifically used for：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
8. robot as claimed in claim 6, which is characterized in that the danger source is scene of fire；The acquisition of information list
Member is specifically used for：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire, it is described
The temperature of the smog of scene of fire and the cooperation robot position.
9. such as robot as claimed in claim 6 to 8, which is characterized in that the robot further includes：
Transmission unit, the evacuation route for generating the Route Generation unit is sent to cooperation robot, so that described
Cooperation robot is based on the evacuation route and guides personnel.
10. such as robot as claimed in claim 6 to 8, which is characterized in that the map acquiring unit is specifically used for：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
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