CN112040534B - Robot rescue method, device and system based on unmanned aerial vehicle and storage medium - Google Patents
Robot rescue method, device and system based on unmanned aerial vehicle and storage medium Download PDFInfo
- Publication number
- CN112040534B CN112040534B CN202010834884.6A CN202010834884A CN112040534B CN 112040534 B CN112040534 B CN 112040534B CN 202010834884 A CN202010834884 A CN 202010834884A CN 112040534 B CN112040534 B CN 112040534B
- Authority
- CN
- China
- Prior art keywords
- robot
- aerial vehicle
- unmanned aerial
- navigation map
- communication connection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000004891 communication Methods 0.000 claims abstract description 110
- 230000009429 distress Effects 0.000 claims abstract description 50
- 230000003213 activating effect Effects 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000004913 activation Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/16—Discovering, processing access restriction or access information
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Astronomy & Astrophysics (AREA)
- Computer Security & Cryptography (AREA)
- Navigation (AREA)
Abstract
The invention discloses a robot rescue method, a device, a system and a storage medium based on an unmanned aerial vehicle, wherein the method comprises the following steps: calling an unmanned aerial vehicle to search a robot, and searching whether a distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle; if the distress signal is searched based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station; constructing a target navigation map corresponding to the robot; activating the robot based on the communication connection and the target navigation map. The unmanned aerial vehicle is used as a communication relay station for robot rescue, so that communication connection is quickly established with the robot again, and the robot is quickly rescued.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot rescue method, device and system based on an unmanned aerial vehicle and a storage medium.
Background
When the robot performs a task, due to the sudden influence of a natural disaster, or suddenly hijacked to other places by others or enters an unmanned area, the communication between the robot and the server is interrupted, so that the robot is disconnected, or a corresponding navigation map cannot be acquired, the autonomous movement capability is lost, and the robot is in a paralyzed state.
At present, some robot rescue methods mainly adopt a manual awakening method, need to establish new communication connection with a robot through other communication system networks continuously and manually, and need to contact the robot in a short distance, so that time consumption is too long, and position information of the robot cannot be accurately positioned. Therefore, the rescue efficiency of the conventional robot rescue method is low.
Disclosure of Invention
The invention mainly aims to provide a robot rescue method, a device and a system based on an unmanned aerial vehicle and a computer readable storage medium, and aims to solve the technical problem that the existing robot rescue method is low in rescue efficiency.
In order to achieve the above object, the present invention provides a robot rescue method based on an unmanned aerial vehicle, which comprises:
calling an unmanned aerial vehicle to search a robot, and searching whether a distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle;
if the distress signal is searched based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station;
constructing a target navigation map corresponding to the robot;
activating the robot based on the communication connection and the target navigation map.
Optionally, if the distress signal is searched based on the unmanned aerial vehicle, establishing a communication connection with the robot by using the unmanned aerial vehicle as a communication relay station, including:
if the distress signal is searched based on the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to keep a preset distance with the robot, and the unmanned aerial vehicle is used as a communication relay station to establish communication connection with the robot.
Optionally, the controlling the drone to keep a preset distance from the robot, and establishing a communication connection between the drone and the robot as a communication relay station includes:
controlling the unmanned aerial vehicle to stop at a preset position of the robot, wherein a pressure sensor is arranged at the preset position;
if the pressure sensor is triggered based on the unmanned aerial vehicle, the unmanned aerial vehicle is used as a communication relay station to establish communication connection with the robot.
Optionally, after the controlling the drone and the robot to keep a preset distance and establishing a communication connection with the robot by using the drone as a communication relay station, the method further includes:
and determining the position information corresponding to the unmanned aerial vehicle, and determining the target position information corresponding to the robot based on the position information and the preset distance.
Optionally, said activating the robot based on the communication connection and the target navigation map comprises:
and sending the target position information and the target navigation map to the robot through the communication connection so that the robot can perform autonomous positioning based on the target position information and the target navigation map.
Optionally, the constructing a target navigation map corresponding to the robot includes:
and acquiring an environment image corresponding to the area where the unmanned aerial vehicle shoots the robot, and constructing a corresponding target navigation map according to the environment image.
Optionally, the calling the drone to search for a robot and searching whether a distress signal broadcasted by the robot exists based on the drone includes:
monitoring the robot in a navigation map at intervals of preset duration;
if the robot is not monitored for the continuous preset times, determining that the robot is separated from the navigation map, and generating a corresponding search signal;
calling the unmanned aerial vehicle to search the robot based on the search signal, and searching whether the distress signal broadcasted by the robot exists based on the unmanned aerial vehicle.
Optionally, after the activating the robot based on the communication connection and the target navigation map, comprising:
and determining a corresponding navigation task instruction, and controlling the robot to execute the navigation task instruction in the target navigation map.
In addition, in order to achieve the above object, the present invention also provides an unmanned aerial vehicle-based robot rescue apparatus, including:
the calling module is used for calling the unmanned aerial vehicle searching robot;
the searching module is used for searching whether a distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle;
the establishing module is used for establishing communication connection between the unmanned aerial vehicle and the robot as a communication relay station if the distress signal is searched based on the unmanned aerial vehicle;
the construction module is used for constructing a target navigation map corresponding to the robot;
an activation module to activate the robot based on the communication connection and the target navigation map.
In addition, to achieve the above object, the present invention also provides an unmanned aerial vehicle-based robot rescue system, which includes a memory, a processor and an unmanned aerial vehicle-based robot rescue program stored in the memory and running on the processor, wherein when executed by the processor, the unmanned aerial vehicle-based robot rescue program implements the steps of the unmanned aerial vehicle-based robot rescue method.
Furthermore, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a drone-based robot rescue program which, when executed by a processor, implements the steps of the drone-based robot rescue method as described above.
The method and the system realize searching the robot by calling the unmanned aerial vehicle and search whether the distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle; if the distress signal is searched based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station; and constructing a target navigation map corresponding to the robot, and activating the robot based on the communication connection and the target navigation map.
Therefore, the unmanned aerial vehicle is called to search the robot, and whether the distress signal broadcasted by the robot exists is searched based on the unmanned aerial vehicle; if the distress signal is searched based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station; and constructing a target navigation map corresponding to the robot, and activating the robot based on the communication connection and the target navigation map. Therefore, in the robot rescue process, the unmanned aerial vehicle is called to search the robot, whether the distress signal broadcasted by the robot exists or not is searched by the unmanned aerial vehicle, if the distress signal is searched by the unmanned aerial vehicle, the unmanned aerial vehicle is used as a communication relay station to establish communication connection with the robot, then a target navigation map corresponding to the robot is established, and then the robot is activated through the communication connection and the target navigation map, so that the robot rescue is completed. After the rescue signal of the robot is searched, the unmanned aerial vehicle is used as a communication relay station for communication connection, so that the communication connection is quickly established with the robot again, and the rescue efficiency of the robot is improved.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment of the unmanned aerial vehicle-based robot rescue method of the invention;
FIG. 2 is a schematic structural diagram of a preferred unmanned-aerial-vehicle-based robot rescue device according to the present invention;
fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The invention provides a robot rescue method based on an unmanned aerial vehicle, and with reference to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of the robot rescue method based on the unmanned aerial vehicle.
Embodiments of the present invention provide embodiments of a robot rescue method based on an unmanned aerial vehicle, and it should be noted that although a logical sequence is shown in the flowchart, under certain data, the steps shown or described may be completed in a different sequence than here.
The robot rescue method based on the unmanned aerial vehicle comprises the following steps S10-S40:
and S10, calling an unmanned aerial vehicle to search for a robot, and searching whether a distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle.
When the robot does not detect the navigation map or detects the navigation map error in the robot system, namely detects the deviation from the navigation map, the robot automatically broadcasts the distress signal by a short-distance transmission mode at preset time intervals. If the management server does not monitor the robot in the navigation map, the management server determines that the robot is in an unlinked state, namely, the robot is determined to be separated from the navigation map, then a searching instruction is broadcasted to the unmanned aerial vehicle, the unmanned aerial vehicle is called through the searching instruction, after the unmanned aerial vehicle receives the searching instruction, the unmanned aerial vehicle goes to a nearby area corresponding to the position of the robot in the navigation map, whether a distress signal broadcasted by the robot exists in the nearby area or not is searched, if the distress signal broadcasted by the robot exists, the unmanned aerial vehicle feeds back prompt information to the management server, and then the management server controls the unmanned aerial vehicle to approach the robot. If no distress signal broadcasted by the robot exists in the search, the unmanned aerial vehicle continues to keep the search state.
The preset duration is set according to the requirement, the embodiment is not limited, and the purpose of setting the preset duration is to save the electric quantity of the robot and provide help for subsequent successful rescue. Short range approaches include, but are not limited to, bluetooth (Bluetooth), wi-Fi (Wireless Fidelity), zigBee (ZigBee), and UWB (Ultra Wide Band).
It should be noted that, when the power of the robot is sufficient, if the corresponding navigation map is received and the position in the navigation map can be determined, the robot is in a normal state, and if the corresponding navigation map is not received or the robot is manually separated from the navigation map, the robot stops traveling, that is, the robot is in an offline state.
Further, the step S10 includes the following steps a-c:
step a, monitoring the robot in a navigation map at intervals of preset duration;
b, if the robot is not monitored for continuous preset times, determining that the robot is separated from the navigation map, and generating a corresponding search signal;
and c, calling the unmanned aerial vehicle to search the robot based on the search signal, and searching whether the distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle.
Specifically, the management server monitors the robot in a navigation map at intervals of preset duration, if the robot is not monitored in the navigation map for a preset number of times, the management server determines that the robot is in an unconnection state, namely, determines that the robot is separated from the navigation map, then the management server generates a corresponding search signal according to position information of the robot in the navigation map, broadcasts the search signal to the unmanned aerial vehicle, the unmanned aerial vehicle is called through the search signal, after receiving the search signal, the unmanned aerial vehicle goes to a corresponding separation area according to separation area information in the search signal, then searches whether a distress signal broadcasted by the robot exists near the separation area, if the distress signal broadcasted by the robot exists, the unmanned aerial vehicle feeds back prompt information to the management server, and then the management server controls the unmanned aerial vehicle to get close to the robot. If no distress signal broadcasted by the robot exists in the search, the unmanned aerial vehicle continues to keep the search state.
The preset duration and the preset times are set according to requirements, and the embodiment is not limited.
It should be noted that the purpose of setting the continuous preset number of times to obtain is to prevent the management server from not monitoring the robot due to external interference at a certain time point, so as to avoid the management server from generating error information.
In this embodiment, for example, the preset duration is 0.2s (second), the preset times are 4 times, the management server monitors the robot in the navigation map at an interval of 0.2s, the management server normally monitors the robot in the navigation map twice before, does not monitor the robot in the navigation map for the third time, and normally monitors the robot in the navigation map for the fourth time, and the management server determines that the robot normally travels in the navigation map.
And S20, if the distress signal is searched based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station.
If the unmanned aerial vehicle searches for the help-seeking signal broadcasted by the robot, the unmanned aerial vehicle establishes communication connection with the management server through the Internet of things communication network, and feeds back the prompt message of the searched help-seeking signal to the management server through the communication connection.
The unmanned aerial vehicle is provided with a wireless signal transceiver, and the wireless signal transceiver is in communication connection with the management server, and the management server is in communication connection with the robot through the wireless signal transceiver.
Further, the step S20 includes the following step d:
and d, if the distress signal is searched based on the unmanned aerial vehicle, controlling the unmanned aerial vehicle to keep a preset distance from the robot, and establishing communication connection between the unmanned aerial vehicle and the robot by taking the unmanned aerial vehicle as a communication relay station.
Specifically, the unmanned aerial vehicle searches for the distress signal broadcasted by the robot, then the wireless signal transceiver in the unmanned aerial vehicle is started, the wireless signal transceiver is in communication connection with the management server through the wireless signal transceiver, the prompt message for searching the distress signal is fed back to the management server through the communication connection, the management server receives the prompt message and then controls the unmanned aerial vehicle to be close to the robot through the communication connection, the unmanned aerial vehicle is controlled to keep a preset distance with the robot, then the wireless signal transceiver in the unmanned aerial vehicle is used as a communication relay station, and the wireless signal transceiver is in communication connection with the robot through the wireless signal transceiver.
The preset distance is set according to a requirement, and the embodiment is not limited.
Further, the step d includes the following steps e-f:
step e, controlling the unmanned aerial vehicle to stop at a preset position of the robot, wherein the preset position is provided with a pressure sensor;
and f, if the pressure sensor is triggered based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by taking the unmanned aerial vehicle as a communication relay station.
Specifically, after the management server receives the prompt message, the unmanned aerial vehicle is controlled to be close to the robot through communication connection, the unmanned aerial vehicle is controlled to stop at a preset position where the pressure sensor is arranged on the robot, the pressure sensor of the robot is triggered through the unmanned aerial vehicle, then a wireless signal receiving and sending device in the unmanned aerial vehicle is used as a communication relay station, and communication connection is established with the robot through the wireless signal receiving and sending device. Optionally, the preset position is set at a top position of the robot, and the pressure sensor is set at the bottom of the top position. In some embodiments, when the unmanned aerial vehicle stops at the preset position, the robot acquires data of the pressure sensor, and triggers a control signal according to the data to actively establish communication connection with the unmanned aerial vehicle.
And S30, constructing a target navigation map corresponding to the robot.
The method comprises the steps that a management server obtains image information corresponding to an area where a robot is located and acquired by an unmanned aerial vehicle through image acquisition equipment, then all the obtained image information is analyzed, corresponding position information of each piece of image information in a navigation map of the management server is analyzed, a target navigation map corresponding to the robot is generated by combining the position information corresponding to all the image information, then the target navigation map is sent to the robot through reestablished communication connection, and the robot is activated through the target navigation map.
The image information includes, but is not limited to, building information, terrain information, and vegetation information.
In other embodiments, the management server acquires image information corresponding to an area where the robot is located, acquired by the unmanned aerial vehicle through the image acquisition device, automatically constructs a new target navigation map based on the image information, and sends the target navigation map to the robot, so that the robot can complete autonomous positioning navigation based on the target navigation map.
Further, the step S30 includes the following step g:
and g, acquiring an environment image corresponding to the area where the robot is located shot by the unmanned aerial vehicle, and constructing a corresponding target navigation map according to the environment image.
Specifically, the management server sends an image acquisition instruction to the unmanned aerial vehicle, after the unmanned aerial vehicle receives the image acquisition instruction sent by the management server, the image acquisition device is started according to the image acquisition instruction, then the surrounding environment images corresponding to the unmanned aerial vehicle are acquired through the image acquisition device, then all the acquired environment images are sent to the management server, after the management server receives all the environment images sent by the unmanned aerial vehicle, all the environment images are combined and analyzed, a target navigation map corresponding to the robot is generated, then the target navigation map is sent to the robot through the reestablished communication connection, and the robot is activated through the target navigation map.
Further, the management server sends a driving instruction to the robot, after the robot receives the driving instruction sent by the management server, the robot starts the image acquisition device according to the driving instruction, then acquires the corresponding surrounding environment images through the image acquisition device, then constructs and merges all the environment images to construct the corresponding target navigation map, and after the robot completes the construction of the target navigation map, the robot reactivates the system.
The environment image includes, but is not limited to, a building information image, a terrain information image, and a vegetation information image.
Step S40, the robot is activated based on the communication connection and the target navigation map.
And after the management server establishes communication connection with the robot, sending the constructed target navigation map to the robot through the reestablished communication connection, and activating the robot through the target navigation map.
It should be noted that, after receiving the target navigation map, the robot reactivates and starts the internal system.
Further, the unmanned aerial vehicle-based robot rescue method further comprises the following steps h:
and h, determining the position information corresponding to the unmanned aerial vehicle, and determining the target position information corresponding to the robot based on the position information and the preset distance.
Specifically, the management server determines position information corresponding to the unmanned aerial vehicle through a position locator in the unmanned aerial vehicle, and then calculates a preset distance and the position information corresponding to the unmanned aerial vehicle to determine target position information corresponding to the robot.
Further, the step h includes the following steps i:
step i, the target position information and the target navigation map are sent to the robot through the communication connection, so that the robot can perform autonomous positioning based on the target position information and the target navigation map;
specifically, the management server sends the target position information and the target navigation map to the robot through communication connection reestablished by communication, and after receiving the target position information and the target navigation map, the robot performs autonomous positioning on the target navigation map according to the target position information to determine the current position in the target navigation map.
In this embodiment, for example, the unmanned aerial vehicle stops at the preset position of the robot, and the management server determines that the preset distance is 0, and then determines the position information corresponding to the unmanned aerial vehicle as the target position information corresponding to the robot. In this embodiment, unmanned aerial vehicle stops at the preset position of robot, not only makes management server and robot reestablish communication connection, also ensures still can remain stable communication network in the robot removes the in-process simultaneously.
In the embodiment, an unmanned aerial vehicle is called to search for a robot, and whether a distress signal broadcasted by the robot exists is searched for by the unmanned aerial vehicle; if the distress signal is searched based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station; and constructing a target navigation map corresponding to the robot, and activating the robot based on the communication connection and the target navigation map. Therefore, in the robot rescue process, the unmanned aerial vehicle is called to search the robot, whether the distress signal broadcasted by the robot exists is searched through the unmanned aerial vehicle, if the distress signal is searched through the unmanned aerial vehicle, the unmanned aerial vehicle is used as a communication relay station to establish communication connection with the robot, then a target navigation map corresponding to the robot is established, then the robot is activated through the communication connection and the target navigation map, and the robot rescue is completed. After the rescue signal of the robot is searched, the unmanned aerial vehicle is used as a communication relay station for communication connection, so that the communication connection is quickly established with the robot again, and the rescue efficiency of the robot is improved.
Further, a second embodiment of the robot rescue method based on the unmanned aerial vehicle is provided.
The second embodiment of the unmanned aerial vehicle-based robot rescue method differs from the first embodiment of the unmanned aerial vehicle-based robot rescue method in that the unmanned aerial vehicle-based robot rescue method further comprises the following step j:
and j, determining a corresponding navigation task instruction, and controlling the robot to execute the navigation task instruction in the target navigation map.
Specifically, the management server determines a navigation task instruction sent by the user terminal, and controls the robot to execute the corresponding navigation task instruction in the target navigation map.
In the embodiment, the corresponding navigation task instruction is determined, and the robot is controlled to execute the navigation task instruction in the target navigation map. Therefore, the management server determines the navigation task instruction sent by the user terminal and controls the robot to execute the corresponding navigation task instruction in the target navigation map, so that the robot can quickly determine the positioning and quickly execute the navigation task instruction after being quickly rescued.
Further, a third embodiment of the robot rescue method based on the unmanned aerial vehicle is provided.
The third embodiment of the unmanned aerial vehicle-based robot rescue method differs from the first or/and second embodiments of the unmanned aerial vehicle-based robot rescue method in that the unmanned aerial vehicle-based robot rescue method further comprises the following step k:
and k, monitoring whether the unmanned aerial vehicle exists in the area where the robot is located or not based on the robot, and broadcasting a distress signal to the unmanned aerial vehicle based on the robot if the unmanned aerial vehicle exists.
Specifically, the robot acquires a sky image corresponding to the located area in real time through a vision system of the robot, monitors whether an unmanned aerial vehicle image exists in the sky image corresponding to the located area, and if the unmanned aerial vehicle image exists in the sky image corresponding to the located area, the robot determines that an unmanned aerial vehicle exists in the overhead area and broadcasts a distress signal to the unmanned aerial vehicle.
This embodiment is through whether exist in the region based on robot monitoring locates unmanned aerial vehicle, if the monitoring exists unmanned aerial vehicle, then based on the robot to unmanned aerial vehicle broadcast distress signal. Therefore, the robot can determine whether an unmanned aerial vehicle exists or not by acquiring the sky image corresponding to the area where the robot is located in real time through the vision system of the robot, and if the unmanned aerial vehicle exists, the robot broadcasts help seeking signals to the unmanned aerial vehicle, so that the rescue mode of the robot is diversified, and the rescue efficiency of the robot is improved.
In other embodiments, if the unmanned aerial vehicle stops at the preset position of the robot, the robot broadcasts the distress signal to the unmanned aerial vehicle, so that the problem that the robot always broadcasts the distress signal blindly to cause serious electric quantity loss is avoided.
In addition, the present invention also provides an unmanned aerial vehicle-based robot rescue apparatus 100, and referring to fig. 2, the unmanned aerial vehicle-based robot rescue apparatus 100 includes:
the calling module 10 is used for calling the unmanned aerial vehicle searching robot;
a searching module 20, configured to search whether a distress signal broadcasted by the robot exists based on the unmanned aerial vehicle;
an establishing module 30, configured to establish a communication connection with the robot by using the unmanned aerial vehicle as a communication relay station if the distress signal is found based on the search of the unmanned aerial vehicle;
a building module 40, configured to build a target navigation map corresponding to the robot;
an activation module 50 for activating the robot based on the communication connection and the target navigation map.
Further, the establishing module 30 further includes:
and the control unit is used for keeping a preset distance between the unmanned aerial vehicle and the robot if the distress signal is searched based on the unmanned aerial vehicle.
Further, the establishing module 30 is further configured to establish a communication connection with the robot by using the drone as a communication relay station;
the control unit is also used for controlling the unmanned aerial vehicle to stop at a preset position of the robot, wherein a pressure sensor is arranged at the preset position;
the establishing module 30 is further configured to establish a communication connection with the robot by using the drone as a communication relay station if the pressure sensor is triggered based on the drone.
The unmanned aerial vehicle-based robot rescue apparatus 100 further includes:
the first determining module is used for determining the position information corresponding to the unmanned aerial vehicle and determining the target position information corresponding to the robot based on the position information and the preset distance.
Further, the activation module 50 further includes:
and the sending unit is used for sending the target position information and the target navigation map to the robot through the communication connection so that the robot can perform autonomous positioning based on the target position information and the target navigation map.
Further, the building module 40 further includes:
and the acquisition unit is used for acquiring an environment image corresponding to the area where the robot is located and shot by the unmanned aerial vehicle.
Further, the building module 40 is further configured to build a corresponding target navigation map according to the environment image.
Further, the calling module 10 further includes:
the monitoring unit is used for monitoring the robot in a navigation map at intervals of preset time;
the determining unit is used for determining that the robot is separated from the navigation map if the robot is not monitored for continuous preset times;
a generating unit for generating a corresponding search signal.
Further, the calling module 10 is further configured to call the drone to search for the robot based on the search signal;
the search module 20 is further configured to search whether a distress signal broadcasted by the robot exists based on the drone.
The unmanned aerial vehicle-based robot rescue apparatus 100 further includes:
the second determining module is used for determining a corresponding navigation task instruction;
and the control module is used for controlling the robot to execute the navigation task instruction in the target navigation map.
The specific implementation of the unmanned aerial vehicle-based robot rescue apparatus 100 of the present invention is substantially the same as the embodiments of the unmanned aerial vehicle-based robot rescue method, and is not described herein again.
In addition, the invention also provides a robot rescue system based on the unmanned aerial vehicle. As shown in fig. 3, fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.
It can be understood that, the unmanned aerial vehicle-based robot rescue system of the present application may be disposed on the first robot, or on the second robot, or on other intelligent devices besides the first robot and the second robot.
As shown in fig. 3, the unmanned aerial vehicle-based robotic rescue system may include: a processor 1001, such as a CPU (Central Processing Unit); a memory 1005; a user interface 1003; a network interface 1004; a communication bus 1002. A communication bus 1002 is used to enable connection communications between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a keyboard (board), and optionally, the user interface 1003 may include a standard wired interface (e.g., a USB (Universal Serial Bus) interface), and a wireless interface (e.g., a bluetooth interface). The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Optionally, the unmanned aerial vehicle-based robotic rescue system may further include RF (Radio Frequency) circuitry, sensors, wiFi modules, and the like.
Those skilled in the art will appreciate that the drone-based robotic rescue system architecture shown in fig. 3 does not constitute a limitation on drone-based robotic rescue systems, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 3, an operating device, a network communication module, a user interface module, and a drone-based robotic rescue program may be included in the memory 1005, which is one type of computer storage medium. The operation device is a program for managing and controlling hardware and software resources of the unmanned aerial vehicle-based robot rescue system, and supports the operation of the unmanned aerial vehicle-based robot rescue program and other software or programs.
In the unmanned aerial vehicle-based robot rescue system shown in the figure, the user interface 1003 is mainly used for a user terminal so that a user sends a navigation task instruction to the management server through the user terminal; the network interface 1004 is mainly used for managing a server to perform data communication with the unmanned aerial vehicle and the robot; the processor 1001 may be configured to invoke the drone-based robotic rescue program stored in the memory 1005 and to perform the steps of the method of controlling the drone-based robotic rescue system as described above.
The specific implementation of the robot rescue system based on the unmanned aerial vehicle is basically the same as that of the robot rescue method based on the unmanned aerial vehicle, and is not described herein again.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a robot rescue program based on a drone is stored, where the robot rescue program based on a drone realizes the steps of the robot rescue method based on a drone as described above when executed by a processor.
The specific implementation manner of the computer-readable storage medium of the present invention is substantially the same as that of each embodiment of the robot rescue method based on the unmanned aerial vehicle, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but the former is a better implementation manner when much data is available. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of software cargo, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a robot rescue system based on an unmanned aerial vehicle to perform the method according to the embodiments of the present invention.
Claims (11)
1. A robot rescue method based on an unmanned aerial vehicle is characterized by comprising the following steps:
calling an unmanned aerial vehicle to search a robot, and searching whether a distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle;
if the distress signal is searched based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station;
constructing a target navigation map corresponding to the robot;
activating the robot based on the communication connection and the target navigation map.
2. The unmanned aerial vehicle-based robot rescue method of claim 1, wherein establishing a communication connection with the robot using the unmanned aerial vehicle as a communication relay station if the distress signal is searched based on the unmanned aerial vehicle comprises:
if the distress signal is searched based on the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to keep a preset distance with the robot, and the unmanned aerial vehicle is used as a communication relay station to establish communication connection with the robot.
3. The unmanned aerial vehicle-based robot rescue method of claim 2, wherein the controlling the unmanned aerial vehicle to maintain a preset distance from the robot and establishing a communication connection with the robot using the unmanned aerial vehicle as a communication relay station comprises:
controlling the unmanned aerial vehicle to stop at a preset position of the robot, wherein the preset position is provided with a pressure sensor;
and if the pressure sensor is triggered based on the unmanned aerial vehicle, establishing communication connection between the unmanned aerial vehicle and the robot by using the unmanned aerial vehicle as a communication relay station.
4. The unmanned aerial vehicle-based robot rescue method of claim 2, further comprising, after the controlling the unmanned aerial vehicle to maintain a preset distance from the robot and establishing a communication connection with the robot using the unmanned aerial vehicle as a communication relay station:
and determining the position information corresponding to the unmanned aerial vehicle, and determining the target position information corresponding to the robot based on the position information and the preset distance.
5. The drone-based robotic rescue method of claim 4, wherein the activating the robot based on the communication connection and the target navigation map includes:
and sending the target position information and the target navigation map to the robot through the communication connection so that the robot can perform autonomous positioning based on the target position information and the target navigation map.
6. The unmanned aerial vehicle-based robot rescue method of claim 1, wherein the constructing of the target navigation map corresponding to the robot comprises:
and acquiring an environment image corresponding to the area where the robot is located shot by the unmanned aerial vehicle, and constructing a corresponding target navigation map according to the environment image.
7. The unmanned aerial vehicle-based robot rescue method of claim 1, wherein the calling the unmanned aerial vehicle to search for a robot and searching whether there is a distress signal broadcasted by the robot based on the unmanned aerial vehicle comprises:
monitoring the robot in a navigation map at intervals of preset duration;
if the robot is not monitored for the continuous preset times, determining that the robot is separated from the navigation map, and generating a corresponding search signal;
calling the unmanned aerial vehicle to search the robot based on the search signal, and searching whether the distress signal broadcasted by the robot exists based on the unmanned aerial vehicle.
8. The unmanned-aerial-vehicle-based robotic rescue method of any of claims 1-7, after the activating the robot based on the communication connection and the target navigation map, comprising:
and determining a corresponding navigation task instruction, and controlling the robot to execute the navigation task instruction in the target navigation map.
9. A robot rescue apparatus based on unmanned aerial vehicle, characterized in that, the robot rescue apparatus based on unmanned aerial vehicle includes:
the calling module is used for calling the unmanned aerial vehicle searching robot;
the searching module is used for searching whether a distress signal broadcasted by the robot exists or not based on the unmanned aerial vehicle;
the establishment module is used for establishing communication connection between the unmanned aerial vehicle and the robot as a communication relay station if the distress signal is searched based on the unmanned aerial vehicle;
the construction module is used for constructing a target navigation map corresponding to the robot;
an activation module to activate the robot based on the communication connection and the target navigation map.
10. A drone-based robotic rescue system including a memory, a processor, and a drone-based robotic rescue program stored on the memory and running on the processor, the drone-based robotic rescue program when executed by the processor implementing the steps of the drone-based robotic rescue method of any one of claims 1-8.
11. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a drone-based robotic rescue program which, when executed by a processor, implements the steps of the drone-based robotic rescue method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010834884.6A CN112040534B (en) | 2020-08-17 | 2020-08-17 | Robot rescue method, device and system based on unmanned aerial vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010834884.6A CN112040534B (en) | 2020-08-17 | 2020-08-17 | Robot rescue method, device and system based on unmanned aerial vehicle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112040534A CN112040534A (en) | 2020-12-04 |
| CN112040534B true CN112040534B (en) | 2023-02-17 |
Family
ID=73577998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010834884.6A Active CN112040534B (en) | 2020-08-17 | 2020-08-17 | Robot rescue method, device and system based on unmanned aerial vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112040534B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113852941B (en) * | 2021-09-03 | 2024-06-21 | 深圳优地科技有限公司 | Multi-robot communication method, multi-robot system and robot |
| CN116311574A (en) * | 2021-09-15 | 2023-06-23 | 北京顺造科技有限公司 | Security inspection system based on quadruped robot and unmanned aerial vehicle |
| CN114391780B (en) * | 2022-01-19 | 2023-03-21 | 深圳市无限动力发展有限公司 | Sweeping control method and device of sweeper, computer equipment and storage medium |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762206A (en) * | 2018-05-21 | 2018-11-06 | 弗徕威智能机器人科技（上海）有限公司 | A kind of unmanned plane and service robot coordinated operation system and method |
| CN108994840A (en) * | 2018-08-23 | 2018-12-14 | 北京云迹科技有限公司 | Failed machines people rescue skills and device |
| WO2019019136A1 (en) * | 2017-07-28 | 2019-01-31 | Qualcomm Incorporated | Systems and methods for utilizing semantic information for navigation of a robotic device |
| CN109426255A (en) * | 2017-09-04 | 2019-03-05 | 中兴通讯股份有限公司 | Automatic driving vehicle control method, device and storage medium based on unmanned plane |
| CN109781124A (en) * | 2017-11-14 | 2019-05-21 | 长城汽车股份有限公司 | A kind of unmanned plane rescue mode, device, unmanned plane and vehicle |
| CN109877831A (en) * | 2019-02-27 | 2019-06-14 | 广州高新兴机器人有限公司 | Autonomous fault rescue mode, device and the computer storage medium of multirobot |
| CN110109480A (en) * | 2019-05-21 | 2019-08-09 | 南京邮电大学 | A kind of unmanned plane inspection search and rescue system and rescue method based on Multi-sensor Fusion |
| CN110474672A (en) * | 2019-08-16 | 2019-11-19 | 广东诚进科技股份有限公司 | A kind of emergency communication relay system based on unmanned plane |
| TW202004703A (en) * | 2018-05-18 | 2020-01-16 | 南開科技大學 | Emergency vehicle infrastructure cooperative method and system thereof |
| CN111026873A (en) * | 2019-10-24 | 2020-04-17 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned vehicle and navigation method and device thereof |
| CN111386714A (en) * | 2019-03-29 | 2020-07-07 | 深圳市大疆创新科技有限公司 | Wi-Fi communication connection establishment method, device and computer-readable storage medium |
| CN211076291U (en) * | 2019-09-25 | 2020-07-24 | 深圳市蔚蓝方舟科技有限公司 | Water rescue robot with original return function |
| CN111506078A (en) * | 2020-05-13 | 2020-08-07 | 北京洛必德科技有限公司 | Robot navigation method and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10332407B2 (en) * | 2017-07-07 | 2019-06-25 | Walmart Apollo, Llc | Systems and methods for providing emergency alerts at emergency landing areas of unmanned aerial vehicles |
-
2020
- 2020-08-17 CN CN202010834884.6A patent/CN112040534B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019019136A1 (en) * | 2017-07-28 | 2019-01-31 | Qualcomm Incorporated | Systems and methods for utilizing semantic information for navigation of a robotic device |
| CN109426255A (en) * | 2017-09-04 | 2019-03-05 | 中兴通讯股份有限公司 | Automatic driving vehicle control method, device and storage medium based on unmanned plane |
| CN109781124A (en) * | 2017-11-14 | 2019-05-21 | 长城汽车股份有限公司 | A kind of unmanned plane rescue mode, device, unmanned plane and vehicle |
| TW202004703A (en) * | 2018-05-18 | 2020-01-16 | 南開科技大學 | Emergency vehicle infrastructure cooperative method and system thereof |
| CN108762206A (en) * | 2018-05-21 | 2018-11-06 | 弗徕威智能机器人科技（上海）有限公司 | A kind of unmanned plane and service robot coordinated operation system and method |
| CN108994840A (en) * | 2018-08-23 | 2018-12-14 | 北京云迹科技有限公司 | Failed machines people rescue skills and device |
| CN109877831A (en) * | 2019-02-27 | 2019-06-14 | 广州高新兴机器人有限公司 | Autonomous fault rescue mode, device and the computer storage medium of multirobot |
| CN111386714A (en) * | 2019-03-29 | 2020-07-07 | 深圳市大疆创新科技有限公司 | Wi-Fi communication connection establishment method, device and computer-readable storage medium |
| CN110109480A (en) * | 2019-05-21 | 2019-08-09 | 南京邮电大学 | A kind of unmanned plane inspection search and rescue system and rescue method based on Multi-sensor Fusion |
| CN110474672A (en) * | 2019-08-16 | 2019-11-19 | 广东诚进科技股份有限公司 | A kind of emergency communication relay system based on unmanned plane |
| CN211076291U (en) * | 2019-09-25 | 2020-07-24 | 深圳市蔚蓝方舟科技有限公司 | Water rescue robot with original return function |
| CN111026873A (en) * | 2019-10-24 | 2020-04-17 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned vehicle and navigation method and device thereof |
| CN111506078A (en) * | 2020-05-13 | 2020-08-07 | 北京洛必德科技有限公司 | Robot navigation method and system |
Non-Patent Citations (2)
| Title |
|---|
| 基于视觉的四旋翼飞行器目标识别及跟踪;朱玮;《硕士毕业电子期刊》;20150131;全文 * |
| 复杂环境下多无人机协同地面目标跟踪问题研究;陈智民;《硕士毕业论文电子期刊》;20150731;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112040534A (en) | 2020-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112040534B (en) | Robot rescue method, device and system based on unmanned aerial vehicle and storage medium | |
| EP3796571B1 (en) | Method and device for controlling unmanned aerial vehicle to access network | |
| US11985620B2 (en) | Network registration method and apparatus | |
| US20200245217A1 (en) | Control method, unmanned aerial vehicle, server and computer readable storage medium | |
| CN108702591B (en) | Information transmission method and device | |
| EP3843497B1 (en) | Method for providing flight route to unmanned aerial vehicle, acquisition method and device, and system | |
| CN111431765A (en) | Driving control method and device | |
| US20230337169A1 (en) | Relay communication method and apparatus | |
| CN107483169A (en) | Data transmission method, system and computer-readable recording medium | |
| US20200133284A1 (en) | Method and apparatus for controlling autonomous vehicle | |
| CN108713222B (en) | Flight control method, device and system | |
| CN111328443B (en) | Method, apparatus, device and medium for providing autonomous emergency assistance | |
| US11158185B2 (en) | Method and apparatus for controlling controllable device | |
| US11070960B2 (en) | Communication device | |
| JP2017537549A (en) | Terminal discovery at gateway nodes | |
| EP4373157A1 (en) | Operation method related to handover in sidelink relay in wireless communication system | |
| CN110753378A (en) | Double-channel communication method based on NB-IoT and Beidou | |
| CN113359716B (en) | Remote control method and device of Internet of things equipment, robot and storage medium | |
| CN111615222B (en) | Communication device and medium | |
| CN111787640B (en) | Communication method and related product | |
| JP6698889B2 (en) | Flight system | |
| JP6464212B2 (en) | Flight system, control device and program | |
| CN114390482A (en) | Relay configuration method and device and user equipment | |
| US10244573B2 (en) | Wireless communication device, wireless communication method and program | |
| US20210132602A1 (en) | Method and apparatus of controlling a flight device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |