CN110191482A - The paths planning method and device of network hotspot drawing generating method, robot - Google Patents
The paths planning method and device of network hotspot drawing generating method, robot Download PDFInfo
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- CN110191482A CN110191482A CN201910522670.2A CN201910522670A CN110191482A CN 110191482 A CN110191482 A CN 110191482A CN 201910522670 A CN201910522670 A CN 201910522670A CN 110191482 A CN110191482 A CN 110191482A
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- 238000005516 engineering process Methods 0.000 claims description 12
- 238000010295 mobile communication Methods 0.000 claims description 12
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- 230000008569 process Effects 0.000 description 18
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- 238000004891 communication Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The present invention proposes the paths planning method and device of a kind of network hotspot drawing generating method, robot, wherein, network hotspot drawing generating method includes: each position in predeterminable area, the network environment of robot is detected, the corresponding localized network hotspot graph in each position is generated, localized network hotspot graph includes: the network signal situation in the regional area centered on corresponding position；The corresponding localized network hotspot graph in each position is integrated; generate the corresponding network boom point diagram of predeterminable area; carry out the mobile route of guidance machine people according to network boom point diagram; the number that robot is located at vulnerable network signal area can be reduced; ensure robot stabilized work, improves machine task efficiency.
Description
Technical field
The present invention relates to technical field of intelligent equipment more particularly to the roads of a kind of network hotspot drawing generating method, robot
Diameter method and device for planning.
Background technique
Current network specifically includes that action hot spot (Wireless Fidelity, WIFI), forth generation mobile communication skill
Art 4G, the 5th third-generation mobile communication technology 5G etc..What the network signal intensity of each region was unevenly distributed, there are vulnerable network letters
Number region and strong network signal region etc..Mobile terminal, such as robot etc. are in moving condition, often believe from vulnerable network
Number region is moved to strong network signal region, alternatively, vulnerable network signal area is moved to from strong network signal region, and robot
Work be strongly dependent upon the power of network signal, when robot is located at vulnerable network signal area, it is difficult to work normally, thus difficult
To ensure the steady operation of robot, machine task efficiency is reduced.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of network hotspot drawing generating method.In this method, default
Each position in region, detects the network environment of robot, generates the corresponding localized network hotspot graph in each position,
Localized network hotspot graph includes: the network signal situation in the regional area centered on corresponding position；It is corresponding to each position
Localized network hotspot graph integrated, generate the corresponding network boom point diagram of predeterminable area, instruct machine according to network boom point diagram
The mobile route of device people can reduce the number that robot is located at vulnerable network signal area, it is ensured that robot stabilized work improves
Machine task efficiency.
Second object of the present invention is to propose a kind of paths planning method of robot.In this method, obtain default
The corresponding network boom point diagram of the map and predeterminable area in region；According to the map of predeterminable area and the corresponding net of predeterminable area
Network hotspot graph is mobile to robot to carry out path planning, reduces the quantity for needing the vulnerable network signal area passed through；Vulnerable network letter
Number region is inferior to the region of default network signal situation for corresponding network signal situation, robot stabilized so as to ensure
Work improves machine task efficiency.
Third object of the present invention is to propose a kind of network boom point diagram generating means.
Fourth object of the present invention is to propose a kind of path planning apparatus of robot.
5th purpose of the invention is to propose a kind of electronic equipment.
6th purpose of the invention is to propose another electronic equipment.
7th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
8th purpose of the invention is to propose another non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of network hotspot drawing generating method, comprising:
Each position in predeterminable area, detects the network environment of robot, and it is corresponding to generate each position
Localized network hotspot graph, the localized network hotspot graph include: the network signal in the regional area centered on corresponding position
Situation；
The corresponding localized network hotspot graph in each position is integrated, the corresponding network hotspot of the predeterminable area is generated
Figure.
The network hotspot drawing generating method of the embodiment of the present invention comes the mobile road of guidance machine people according to network boom point diagram
Line can reduce the number that robot is located at vulnerable network signal area, it is ensured that robot stabilized work improves the work of robot
Efficiency.
In addition, network hotspot drawing generating method according to the above embodiment of the present invention, can also have following additional skill
Art feature:
In an embodiment of the invention, each position in predeterminable area, to the network environment of robot into
Row detection, generates the corresponding localized network hotspot graph in each position, comprising:
The current connection network of robot is detected in each position in predeterminable area, determines and described currently connects
Connect the network signal intensity of network each point in the regional area centered on the position；
According to the network signal intensity of each point, the corresponding localized network hotspot graph in the position is generated.
In an embodiment of the invention, the network signal intensity according to each point, generates the position pair
The localized network hotspot graph answered, comprising:
According to the network signal intensity of each point, the signal quality of each point is determined；
According to the corresponding color of each signal quality, the signal quality of each point is shown, institute's rheme is obtained
Set corresponding localized network hotspot graph.
In an embodiment of the invention, the current connection network of the robot be in lower network any one or
Person is a variety of: action hot spot WIFI, fourth generation mobile communication technology 4G, the 5th third-generation mobile communication technology 5G.
In an embodiment of the invention, described in preset areas when the current connection network of the robot is multiple
The current connection network of robot is detected in each position in domain, determines the current connection network with institute's rheme
It is set to the network signal intensity of each point in the regional area at center, comprising:
Multiple current connection networks of robot are detected in each position in predeterminable area, will be the multiple
The maximum network signal strength of current connection network each point in the regional area using centered on the position is as described each
The network signal intensity of a point.
In an embodiment of the invention, each position in predeterminable area, to the network environment of robot into
Row detection, generates the corresponding localized network hotspot graph in each position, comprising:
Each network that robot connected is detected in each position in predeterminable area, determines with institute's rheme
It is set to the maximum network signal strength of each point in the regional area at center；
The each network connected according to the robot each point in the regional area centered on the position
Maximum network signal strength generates the corresponding localized network hotspot graph in the position.
In an embodiment of the invention, described that the corresponding localized network hotspot graph in each position is integrated, it generates
After the corresponding network boom point diagram of the predeterminable area, further includes:
Obtain the time point for generating the network boom point diagram；
Whether the difference for judging current point in time and generating the time point of the network boom point diagram is more than or equal to preset time
Threshold value；
If the difference at the time point of current point in time and the generation network boom point diagram is more than or equal to preset time threshold,
The network boom point diagram is updated.
In an embodiment of the invention, described that the corresponding localized network hotspot graph in each position is integrated, it generates
After the corresponding network boom point diagram of the predeterminable area, further includes:
The corresponding network boom point diagram of map and the predeterminable area to the predeterminable area is bound.
In an embodiment of the invention, the method further include:
The location information of fixed equipment in predeterminable area is obtained, the fixed equipment is to rely on setting for network signal work
It is standby；
According to the location information of the fixed equipment and the corresponding network boom point diagram of the predeterminable area, judge described solid
Whether locking equipment is located at vulnerable network signal area；The vulnerable network signal area is inferior to preset for corresponding network signal situation
The region of network signal situation；
If the fixed equipment is located at vulnerable network signal area, prompt for the fixed equipment to be moved to non-vulnerable network letter
Number region.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of paths planning method of robot, comprising:
Obtain the map and the corresponding network boom point diagram of the predeterminable area of predeterminable area；
According to the map of the predeterminable area and the corresponding network boom point diagram of the predeterminable area it is mobile to robot into
Row path planning reduces the quantity for needing the vulnerable network signal area passed through；The vulnerable network signal area is corresponding network
Signal condition is inferior to the region of default network signal situation.
In addition, the paths planning method of robot according to the above embodiment of the present invention, can also have following additional
Technical characteristic:
In an embodiment of the invention, the method, further includes:
During robot carries out mobile according to the path of planning, judge whether the robot is located at vulnerable network letter
Number region；
If the robot is located at vulnerable network signal area, the current location information of the robot and current is uploaded
Moment, and the robot is prompted to enter vulnerable network signal area.
In an embodiment of the invention, the method, further includes:
If the robot is located at non-vulnerable network signal area, it is determined that the tupe of the robot is at cloud
Reason；
If the robot is located at vulnerable network signal area, it is determined that the tupe of the robot is that robot is local
Processing.
In an embodiment of the invention, the method, further includes:
If the robot is located at vulnerable network signal area, records the robot and be continuously located at vulnerable network signal area
Time span；
If the time span is greater than predetermined time period, controls the robot and be moved to predeterminated position.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of network boom point diagram generating means, comprising:
Detection module detects the network environment of robot for each position in predeterminable area, generates each
The corresponding localized network hotspot graph in a position, the localized network hotspot graph includes: the regional area centered on corresponding position
Interior network signal situation；
Generation module generates the predeterminable area for integrating to the corresponding localized network hotspot graph in each position
Corresponding network boom point diagram.
In addition, network boom point diagram generating means according to the above embodiment of the present invention, can also have following additional skill
Art feature:
In an embodiment of the invention, the detection module is specifically used for,
The current connection network of robot is detected in each position in predeterminable area, determines and described currently connects
Connect the network signal intensity of network each point in the regional area centered on the position；
According to the network signal intensity of each point, the corresponding localized network hotspot graph in the position is generated.
In an embodiment of the invention, the detection module is specifically used for, and the network signal according to each point is strong
Degree, determines the signal quality of each point；
According to the corresponding color of each signal quality, the signal quality of each point is shown, institute's rheme is obtained
Set corresponding localized network hotspot graph.
In an embodiment of the invention, the current connection network of the robot be in lower network any one or
Person is a variety of: action hot spot WIFI, fourth generation mobile communication technology 4G, the 5th third-generation mobile communication technology 5G.
In an embodiment of the invention, when the current connection network of the mobile terminal is multiple, the detection mould
Block is specifically used for,
Multiple current connection networks of robot are detected in each position in predeterminable area, will be the multiple
The maximum network signal strength of current connection network each point in the regional area using centered on the position is as described each
The network signal intensity of a point.
In an embodiment of the invention, the detection module is specifically used for,
Each network that robot connected is detected in each position in predeterminable area, determines with institute's rheme
It is set to the maximum network signal strength of each point in the regional area at center；
The each network connected according to the robot each point in the regional area centered on the position
Maximum network signal strength generates the corresponding localized network hotspot graph in the position.
In an embodiment of the invention, the device further include: first obtains module, first judgment module and update
Module；
Described first obtains module, for obtaining the time point for generating the network boom point diagram；
The first judgment module, the difference at the time point for judging current point in time and the generation network boom point diagram
Whether preset time threshold is more than or equal to；
The update module, for being greater than in the difference of current point in time and the time point for generating the network boom point diagram etc.
When preset time threshold, the network boom point diagram is updated.
In an embodiment of the invention, the device further include: binding module, for the ground to the predeterminable area
Figure and the corresponding network boom point diagram of the predeterminable area are bound.
In an embodiment of the invention, in an embodiment of the invention, the device further include: second obtains mould
Block, the second judgment module and mobile cue module；
Described second obtains module, and for obtaining the location information of fixed equipment in predeterminable area, the fixed equipment is
The equipment for relying on network signal work；
Second judgment module, for corresponding according to the location information of the fixed equipment and the predeterminable area
Network boom point diagram, judges whether the fixed equipment is located at vulnerable network signal area；The vulnerable network signal area is corresponding
Network signal situation is inferior to the region of default network signal situation；
The mobile cue module, for when the fixed equipment is located at vulnerable network signal area, prompting will be described solid
Locking equipment is moved to non-vulnerable network signal area.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of path planning apparatus of robot, comprising:
Obtain module, the corresponding network boom point diagram of map and the predeterminable area for obtaining predeterminable area；
Path planning module, for the map and the corresponding network hotspot of the predeterminable area according to the predeterminable area
Figure is mobile to robot to carry out path planning, reduces the quantity for needing the vulnerable network signal area passed through；The vulnerable network signal
Region is inferior to the region of default network signal situation for corresponding network signal situation.
In addition, the path planning apparatus of robot according to the above embodiment of the present invention, can also have following additional
Technical characteristic:
In an embodiment of the invention, the device further include: first judgment module and upload cue module；
The first judgment module, for during robot carries out mobile according to the path of planning, described in judgement
Whether robot is located at vulnerable network signal area；
The upload cue module, for uploading the robot when the robot is located at vulnerable network signal area
Current location information and current time, and the robot is prompted to enter vulnerable network signal area.
In an embodiment of the invention, the device further include: determining module；
The determining module, for determining the robot when the robot is located at non-vulnerable network signal area
Tupe is cloud processing；
The determining module is also used to determine the robot when the robot is located at vulnerable network signal area
Tupe is robot processing locality.
In an embodiment of the invention, the device further include: logging modle and control module；
The logging modle, for it is continuous to record the robot when the robot is located at vulnerable network signal area
Time span positioned at vulnerable network signal area；
The control module, for it is mobile to control the robot when the time span is greater than predetermined time period
To predeterminated position.
In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of electronic equipment characterized by comprising
Shell, processor, memory, circuit board and power circuit, wherein circuit board is placed in the space interior that shell surrounds, processing
Device and memory setting are on circuit boards；Power circuit, for each circuit or the device power supply for above-mentioned electronic equipment；Storage
Device is for storing executable program code；Processor is run by reading the executable program code stored in memory and can
The corresponding program of program code is executed, for realizing the network hotspot drawing generating method as described in above-described embodiment.
In order to achieve the above object, sixth aspect present invention embodiment proposes another electronic equipment, which is characterized in that packet
It includes: shell, processor, memory, circuit board and power circuit, wherein circuit board is placed in the space interior that shell surrounds, place
Manage device and memory setting on circuit boards；Power circuit, for each circuit or the device power supply for above-mentioned electronic equipment；It deposits
Reservoir is for storing executable program code；Processor run by reading in memory the executable program code that stores with
The corresponding program of executable program code, with the paths planning method for realizing the robot as described in above-described embodiment.
To achieve the goals above, seventh aspect present invention embodiment proposes a kind of computer-readable storage of non-transitory
Medium is stored thereon with computer program, which is characterized in that realizes as described in above-described embodiment when the program is executed by processor
Network hotspot drawing generating method.
To achieve the goals above, eighth aspect present invention embodiment proposes that another non-transitory is computer-readable to deposit
Storage media is stored thereon with computer program, which is characterized in that realizes when the program is executed by processor such as above-described embodiment institute
The paths planning method of the robot stated.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of network hotspot drawing generating method provided by the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the paths planning method of robot provided by the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of network boom point diagram generating means provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another network boom point diagram generating means provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another network boom point diagram generating means provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of another network boom point diagram generating means provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of the path planning apparatus of robot provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the path planning apparatus of another robot provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of the path planning apparatus of another robot provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of the path planning apparatus of another robot provided in an embodiment of the present invention；
Figure 11 is a kind of exemplary electronic suitable for being used to realize embodiment of the present invention provided by the embodiment of the present invention
The block diagram of equipment.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the network hotspot drawing generating method of the embodiment of the present invention, the paths planning method of robot are described
And device.
Wherein, the executing subject of the network hotspot drawing generating method of the embodiment of the present invention is network boom point diagram generating means.
Network boom point diagram generating means can be robot, or the background server etc. connecting with robot.
Fig. 1 is a kind of flow diagram of network hotspot drawing generating method provided by the embodiment of the present invention.Such as Fig. 1 institute
Show, the network hotspot drawing generating method the following steps are included:
Step 101, each position in predeterminable area, detects the network environment of robot, generates each position
Corresponding localized network hotspot graph is set, localized network hotspot graph includes: the network in the regional area centered on corresponding position
Signal condition.
In the present embodiment, the trigger condition detected to the network environment of robot can be the arrival testing time, or
Person, preset testing button are clicked.
Wherein, the testing time is reached, refers to that current point in time and last time generate the difference at the time point of network boom point diagram
More than or equal to preset time threshold.Judge whether reach the testing time process be specifically as follows, judge current point in time with it is upper
Whether the difference at the secondary time point at network hotspot graph is more than or equal to preset time threshold；If current point in time and last time generate
The difference at the time point of network boom point diagram is more than or equal to preset time threshold, it is determined that meets trigger condition, and then to robot
Network environment detected, generate and network boom point diagram or the network boom point diagram generated be updated.
In the present embodiment, in the first implement scene, the process that network boom point diagram generating means execute step 101 is specific
It can be each position in predeterminable area, the current connection network of robot is detected, determine current connection network
The network signal intensity of each point in the regional area centered on position；According to the network signal intensity of each point, generate
The corresponding localized network hotspot graph in position.
Wherein, in localized network hotspot graph, the network signal situation of each point can be indicated with color.Specifically, net
Network hotspot graph generating means generate the process tool of the corresponding localized network hotspot graph in position according to the network signal intensity of each point
Body can be, according to the network signal intensity of each point, to determine the signal quality of each point；It is corresponding according to each signal quality
Color shows the signal quality of each point, obtains the corresponding localized network hotspot graph in position.
In the present embodiment, the division of signal quality can be carried out according to network signal intensity, for example, each signal quality pair
A network signal intensity range is answered, when the network signal intensity of some point is located within the scope of the network signal intensity, the point
Signal quality be the corresponding signal quality of network signal intensity range.
In the present embodiment, signal quality can for example be divided into, vulnerable network signal, medium networks signal, strong network signal.It is weak
The corresponding color of network signal can be red, and the corresponding color of medium networks signal can be blue, and strong network signal is corresponding
Color can be for green etc..May include in the localized network hotspot graph of generation in following region any one or it is more
Kind: vulnerable network signal area, medium networks signal area, strong network signal region etc..The quantity in each region can be 0,1
It is a or multiple.
In the present embodiment, the current connection network of robot can in following network any one or it is a variety of: row
Dynamic hot spot WIFI, fourth generation mobile communication technology 4G, the 5th third-generation mobile communication technology 5G.When the current connection network of robot is
When multiple, the current connection network of robot is examined in each position of the network boom point diagram generating means in predeterminable area
It surveys, determines that current connection network process of the network signal intensity of each point in the regional area centered on position specifically may be used
Think, each position in predeterminable area, multiple current connection networks of robot is detected, by multiple current connections
The network signal of maximum network signal strength as each point of network each point in the regional area using centered on position is strong
Degree.
Currently connect in addition, network boom point diagram generating means can also determine that the maximum network signal strength of each point is corresponding
Network, and being labeled in the corresponding current connection network of maximum network signal strength on the position of respective point are connect, or
On network signal region where respective point.
In the present embodiment, in second of implement scene, the process that network boom point diagram generating means execute step 101 is specific
It can be that each network that robot connected is detected in each position in predeterminable area, determine with position and be
The maximum network signal strength of each point in the regional area of the heart；The each network connected according to robot in being with position
The maximum network signal strength of each point in the regional area of the heart generates the corresponding localized network hotspot graph in position.
Step 102, the corresponding localized network hotspot graph in each position is integrated, generates the corresponding network of predeterminable area
Hotspot graph.
In the present embodiment, network boom point diagram generating means integrate the corresponding localized network hotspot graph in each position
Process is specifically as follows, and merges to the corresponding localized network hotspot graph in each position, the region of overlapping takes biggish network
Signal strength.
In the present embodiment, for predeterminable area, due to variation of WIFI hot spot etc., network signal intensity distribution may
It can change, therefore, it is necessary to periodically be updated to network boom point diagram.It is corresponding, after step 102, network hotspot
Following procedure can also be performed in figure generating means: obtaining the time point for generating network boom point diagram；Judge current point in time and generates
Whether the difference at the time point of network boom point diagram is more than or equal to preset time threshold；If current point in time and generation network boom point diagram
Time point difference be more than or equal to preset time threshold, then network boom point diagram is updated.
In the present embodiment, after step 102, the method can also include: to the map of the predeterminable area and
The corresponding network boom point diagram of the predeterminable area is bound, and obtains corresponding network boom point diagram to inquire according to the map, and
Map is shown with network boom point diagram according to position is corresponding, to understand the network signal situation of each position.
Further, on the basis of the above embodiments, after step 102, the method can also include: to obtain in advance
If the location information of fixed equipment in region, fixed equipment is the equipment for relying on network signal work；According to the position of fixed equipment
Confidence breath and the corresponding network boom point diagram of predeterminable area, judge whether fixed equipment is located at vulnerable network signal area；Vulnerable network
Signal area is inferior to the region of default network signal situation for corresponding network signal situation；If fixed equipment is located at vulnerable network
Signal area, then fixed equipment is moved to non-vulnerable network signal area by prompt.
Wherein, fixed equipment can be for example charging pile, reception point etc..
The network hotspot drawing generating method of the embodiment of the present invention, by each position in predeterminable area, to robot
Network environment detected, generate the corresponding localized network hotspot graph in each position, localized network hotspot graph includes: with correspondence
Network signal situation in regional area centered on position；The corresponding localized network hotspot graph in each position is integrated,
The corresponding network boom point diagram of predeterminable area is generated, the mobile route of guidance machine people is carried out according to network boom point diagram, machine can be reduced
Device people is located at the number of vulnerable network signal area, it is ensured that robot stabilized work improves machine task efficiency.
Fig. 2 is a kind of flow diagram of the paths planning method of robot provided by the embodiment of the present invention.Such as Fig. 2 institute
Show, the paths planning method of the robot mainly comprises the steps that
Step 201, the map and the corresponding network boom point diagram of predeterminable area of predeterminable area are obtained.
The executing subject of the paths planning method of the robot of the embodiment of the present invention is the path planning apparatus of robot.Machine
The path planning apparatus of device people can be robot, or the background server etc. connecting with robot.
In the present embodiment, the trigger condition of the map and the corresponding network boom point diagram of predeterminable area that obtain predeterminable area can
Think, needs to carry out path planning.
Step 202, according to the map of predeterminable area and the corresponding network boom point diagram of predeterminable area it is mobile to robot into
Row path planning reduces the quantity for needing the vulnerable network signal area passed through；Vulnerable network signal area is corresponding network signal
Situation is inferior to the region of default network signal situation.
In the present embodiment, in the first implement scene, the path planning apparatus of robot executes the process tool of step 202
Body can be the current location information and target position information for obtaining robot；In conjunction with current location information, target position information
And the map of predeterminable area carries out path planning, obtains mulitpath；In conjunction with the corresponding network boom point diagram of predeterminable area, determine
The total size for the vulnerable network signal area that each path is passed through, or the length of the route segment positioned at vulnerable network signal area；
Then select the vulnerable network signal area of process minimum from mulitpath, or the route segment in vulnerable network signal area
Shortest path, so that it is guaranteed that robot can steady operation, improve machine task efficiency.
In the present embodiment, vulnerable network signal area for example can be that color is red region in network hotspot figure.
In the present embodiment, in second of implement scene, the path planning apparatus of robot executes the process tool of step 202
Body can be the current location information and target position information for obtaining robot, believe in conjunction with current location information, target position
Breath, the map of predeterminable area, in the corresponding network boom point diagram of predeterminable area non-vulnerable network signal area position, carry out path rule
It draws, judges whether that planning obtains path, if planning obtains path, robot is moved according to the path；If not planning
To path, then plans and obtain non-vulnerable network signal area minimum or be located at the shortest road of non-vulnerable network signal area route segment
Diameter, robot are moved according to the path.
Further, after step 202, the method can also include: to carry out in robot according to the path of planning
In mobile process, judge whether robot is located at vulnerable network signal area；If robot is located at vulnerable network signal area, on
Current location information and the current time of the robot are passed, and robot is prompted to enter vulnerable network signal area.Pass through
The current location information of robot and reporting for current time, so that when robot is in vulnerable network signal area for a long time,
When being difficult to find the corresponding background server long-time in path or robot not with robot communication, professional is prompted to seek
Look for robot.
In the present embodiment, if robot is located at non-vulnerable network signal area, it is determined that the tupe of robot is cloud
Processing.If robot is located at vulnerable network signal area, it is determined that the tupe of robot is robot processing locality.
Wherein, cloud is handled, and refers to executing speech recognition, visual processes etc. by cloud computationally intensive, occupies resource
Measure big operation.Robot processing locality, refers to executing speech recognition, visual processes etc. by robot computationally intensive, accounts for
With the big operation of stock number.Wherein, cloud refers to the background server with robot communication.
In the present embodiment, when robot is located at weak network signal area, it can continuously be located at weak net with recorder people
The time span of network signal area；If time span is greater than predetermined time period, controls robot and be moved to predeterminated position, keep away
Manpower-free finds.
The paths planning method of the robot of the embodiment of the present invention, by the map and predeterminable area that obtain predeterminable area
Corresponding network boom point diagram；According to the map of predeterminable area and the corresponding network boom point diagram of predeterminable area it is mobile to robot into
Row path planning reduces the quantity for needing the vulnerable network signal area passed through；Vulnerable network signal area is corresponding network signal
Situation is inferior to the region of default network signal situation, so as to ensure robot stabilized work, improves the work effect of robot
Rate.
In order to realize above-described embodiment, the embodiment of the present invention also proposes a kind of network boom point diagram generating means.Fig. 3 is this hair
A kind of structural schematic diagram for network boom point diagram generating means that bright embodiment provides.
As shown in figure 3, the network boom point diagram generating means include: detection module 31 and generation module 32.
Wherein, the network environment of robot is examined for each position in predeterminable area detection module 31
It surveys, generates the corresponding localized network hotspot graph in each position, the localized network hotspot graph includes: centered on corresponding position
Network signal situation in regional area；
Generation module 32 generates the preset areas for integrating to the corresponding localized network hotspot graph in each position
The corresponding network boom point diagram in domain.
In the present embodiment, the trigger condition detected to the network environment of robot can be the arrival testing time, or
Person, preset testing button are clicked.
Wherein, the testing time is reached, refers to that current point in time and last time generate the difference at the time point of network boom point diagram
More than or equal to preset time threshold.Judge whether reach the testing time process be specifically as follows, judge current point in time with it is upper
Whether the difference at the secondary time point at network hotspot graph is more than or equal to preset time threshold；If current point in time and last time generate
The difference at the time point of network boom point diagram is more than or equal to preset time threshold, it is determined that meets trigger condition, and then to robot
Network environment detected, generate and network boom point diagram or the network boom point diagram generated be updated.
In the present embodiment, in the first implement scene, the detection module 31 specifically can be used for, in predeterminable area
Each position, the current connection network of robot is detected, determines current connection network in the office centered on position
The network signal intensity of each point in portion region；According to the network signal intensity of each point, the corresponding localized network in position is generated
Hotspot graph.
Wherein, in localized network hotspot graph, the network signal situation of each point can be indicated with color.Specifically, it examines
Surveying module 31 specifically can be used for, and according to the network signal intensity of each point, determine the signal quality of each point；According to each letter
Number corresponding color of quality, shows the signal quality of each point, obtains the corresponding localized network hotspot graph in position.
In the present embodiment, the division of signal quality can be carried out according to network signal intensity, for example, each signal quality pair
A network signal intensity range is answered, when the network signal intensity of some point is located within the scope of the network signal intensity, the point
Signal quality be the corresponding signal quality of network signal intensity range.
In the present embodiment, signal quality can for example be divided into, vulnerable network signal, medium networks signal, strong network signal.It is weak
The corresponding color of network signal can be red, and the corresponding color of medium networks signal can be blue, and strong network signal is corresponding
Color can be for green etc..May include in the localized network hotspot graph of generation in following region any one or it is more
Kind: vulnerable network signal area, medium networks signal area, strong network signal region etc..The quantity in each region can be 0,1
It is a or multiple.
In the present embodiment, the current connection network of robot can in following network any one or it is a variety of: row
Dynamic hot spot WIFI, fourth generation mobile communication technology 4G, the 5th third-generation mobile communication technology 5G.When the current connection network of robot is
When multiple, detection module 31 specifically can be used for, each position in predeterminable area, to multiple current connection nets of robot
Network is detected, and the maximum network signal of multiple current connection network each points in the regional area centered on position is strong
Spend the network signal intensity as each point.
Currently connect in addition, network boom point diagram generating means can also determine that the maximum network signal strength of each point is corresponding
Network, and being labeled in the corresponding current connection network of maximum network signal strength on the position of respective point are connect, or
On network signal region where respective point.
In the present embodiment, in second of implement scene, detection module 31 specifically can be used for, every in predeterminable area
Each network that robot connected is detected in a position, determines each point in the regional area centered on position
Maximum network signal strength；The each network connected according to robot each point in the regional area centered on position
Maximum network signal strength generates the corresponding localized network hotspot graph in position.
Further, in the present embodiment, generation module 32 specifically can be used for, to the corresponding localized network in each position heat
Point diagram merges, and the region of overlapping takes biggish network signal intensity.
In the present embodiment, for predeterminable area, due to variation of WIFI hot spot etc., network signal intensity distribution may
It can change, therefore, it is necessary to periodically be updated to network boom point diagram.It is corresponding, it is shown in Fig. 3 in conjunction with reference Fig. 4
On the basis of embodiment, the device can also include: the first acquisition module 33, first judgment module 34 and update module
35；
Described first obtains module 33, for obtaining the time point for generating the network boom point diagram；
The first judgment module 34, the difference at the time point for judging current point in time and the generation network boom point diagram
Whether value is more than or equal to preset time threshold；
The update module 35, for being greater than in current point in time and the difference at the time point for generating the network boom point diagram
When equal to preset time threshold, the network boom point diagram is updated.
Further, in conjunction with reference Fig. 5, on the basis of embodiment shown in Fig. 3, the device can also include: to tie up
Cover half block 36, for the predeterminable area map and the corresponding network boom point diagram of the predeterminable area bind, with
Just inquiry obtains corresponding network boom point diagram according to the map, and map is shown with network boom point diagram according to position is corresponding,
To understand the network signal situation of each position.
Further, in conjunction with reference Fig. 6, on the basis of embodiment shown in Fig. 3, the device can also include:
Two obtain module 37, the second judgment module 38 and mobile cue module 39.
Wherein, described second module 37 is obtained, for obtaining the location information of fixed equipment in predeterminable area, the fixation
Equipment is the equipment for relying on network signal work；
Second judgment module 38, for corresponding according to the location information of the fixed equipment and the predeterminable area
Network boom point diagram, judge whether the fixed equipment is located at vulnerable network signal area；The vulnerable network signal area, for correspondence
Network signal situation be inferior to the region of default network signal situation；
The mobile cue module 39, for when the fixed equipment is located at vulnerable network signal area, prompt will be described
Fixed equipment is moved to non-vulnerable network signal area.
Wherein, fixed equipment can be for example charging pile, reception point etc..
Fig. 7 is a kind of structural schematic diagram of the path planning apparatus of robot provided by the embodiment of the present invention.Such as Fig. 7 institute
Show, which includes: to obtain module 71 and path planning module 72.
Wherein, module 71 is obtained, for obtaining the map and the corresponding network hotspot of the predeterminable area of predeterminable area
Figure；
Path planning module 72, for the map and the corresponding network boom of the predeterminable area according to the predeterminable area
Point diagram is mobile to robot to carry out path planning, reduces the quantity for needing the vulnerable network signal area passed through；The vulnerable network letter
Number region is inferior to the region of default network signal situation for corresponding network signal situation.
The path planning apparatus of the robot of the embodiment of the present invention can be robot, or the backstage connecting with robot
Server etc..
In the present embodiment, the trigger condition of the map and the corresponding network boom point diagram of predeterminable area that obtain predeterminable area can
Think, needs to carry out path planning.
In the present embodiment, in the first implement scene, path planning module 72 specifically can be used for, and obtain robot
Current location information and target position information；In conjunction with current location information, target position information and predeterminable area map into
Row path planning, obtains mulitpath；In conjunction with the corresponding network boom point diagram of predeterminable area, the weak net that each path is passed through is determined
The total size of network signal area, or the length of the route segment positioned at vulnerable network signal area；Then it is selected from mulitpath
The vulnerable network signal area of process is minimum, or the shortest path of route segment in vulnerable network signal area, so that it is guaranteed that
Robot can steady operation, improve machine task efficiency.
In the present embodiment, vulnerable network signal area for example can be that color is red region in network hotspot figure.
In the present embodiment, in second of implement scene, path planning module 72 specifically can be used for, and obtain robot
Current location information and target position information, in conjunction with current location information, target position information, predeterminable area map, default
The position of non-vulnerable network signal area in the corresponding network boom point diagram in region carries out path planning, judges whether that planning obtains road
Diameter, if planning obtains path, robot is moved according to the path；If not planning to obtain path, plan that acquisition is non-weak
Network signal region is minimum or is located at the shortest path of non-vulnerable network signal area route segment, and robot is carried out according to the path
It is mobile.
Further, in conjunction with reference Fig. 8, on the basis of the embodiment shown in fig. 7, the device can also include:
One judgment module 73 and upload cue module 74.
Wherein, the first judgment module 73, for sentencing during robot carries out mobile according to the path of planning
Whether the robot that breaks is located at vulnerable network signal area；
The upload cue module 74, for uploading the machine when the robot is located at vulnerable network signal area
The current location information of people and current time, and the robot is prompted to enter vulnerable network signal area.
In the present embodiment, by the current location information of robot and reporting for current time, so that working as robot head
Time is in vulnerable network signal area, it is difficult to find the corresponding background server in path or robot for a long time not with machine
When people communicates, professional is prompted to find robot.
Further, in conjunction with reference Fig. 9, on the basis of embodiment shown in Fig. 8, the device can also include: true
Cover half block 75；
The determining module 75, for determining the robot when the robot is located at non-vulnerable network signal area
Tupe be cloud processing；
The determining module 75 is also used to determine the robot when the robot is located at vulnerable network signal area
Tupe be robot processing locality.
Wherein, cloud is handled, and refers to executing speech recognition, visual processes etc. by cloud computationally intensive, occupies resource
Measure big operation.Robot processing locality, refers to executing speech recognition, visual processes etc. by robot computationally intensive, accounts for
With the big operation of stock number.Wherein, cloud refers to the background server with robot communication.
Further, in conjunction with reference Figure 10, on the basis of embodiment shown in Fig. 8, the device can also include: note
Record module 76 and control module 77；
The logging modle 76 connects for when the robot is located at vulnerable network signal area, recording the robot
The continuous time span positioned at vulnerable network signal area；
The control module 77, for controlling the robot and moving when the time span is greater than predetermined time period
It moves to predeterminated position.
To achieve the goals above, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium,
It is stored thereon with computer program, which is characterized in that the net as described in above-described embodiment is realized when the program is executed by processor
Network hot spot drawing generating method.
To achieve the goals above, the embodiment of the present invention also proposed another non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which is characterized in that realizes as described in above-described embodiment when the program is executed by processor
The paths planning method of robot.
Figure 11 shows the block diagram for being suitable for the example electronic device for being used to realize the application embodiment.Such as Figure 11 institute
Show, which includes: shell 310, processor 320, memory 330, circuit board 340 and power circuit 350, wherein electricity
Road plate 340 is placed in the space interior that shell 310 surrounds, and processor 320 and memory 330 are arranged on circuit board 340；Power supply
Circuit 350, for each circuit or the device power supply for above-mentioned electronic equipment；Memory 330 is for storing executable program generation
Code；Processor 320 is corresponding with executable program code to run by reading the executable program code stored in memory 330
Program, for executing the paths planning method of network hotspot drawing generating method or robot described in above-described embodiment.Its
In, which can be robot itself, be also possible to the external equipment with robot communication, such as server etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (10)
1. a kind of network hotspot drawing generating method, which comprises the following steps:
Each position in predeterminable area, detects the network environment of robot, generates the corresponding part in each position
Network boom point diagram, the localized network hotspot graph include: the network signal situation in the regional area centered on corresponding position；
The corresponding localized network hotspot graph in each position is integrated, the corresponding network boom point diagram of the predeterminable area is generated.
2. the method according to claim 1, wherein each position in predeterminable area, to robot
Network environment detected, generate the corresponding localized network hotspot graph in each position, comprising:
The current connection network of robot is detected in each position in predeterminable area, determines the current connection net
The network signal intensity of network each point in the regional area centered on the position；
According to the network signal intensity of each point, the corresponding localized network hotspot graph in the position is generated.
3. according to the method described in claim 2, it is characterized in that, the network signal intensity according to each point, raw
At the corresponding localized network hotspot graph in the position, comprising:
According to the network signal intensity of each point, the signal quality of each point is determined；
According to the corresponding color of each signal quality, the signal quality of each point is shown, the position pair is obtained
The localized network hotspot graph answered.
4. according to the method described in claim 2, it is characterized in that, the current connection network of the robot is in lower network
Any one or it is a variety of: action hot spot WIFI, fourth generation mobile communication technology 4G, the 5th third-generation mobile communication technology 5G.
5. according to the method described in claim 2, it is characterized in that, when the current connection network of the robot be it is multiple when,
The current connection network of robot is detected in each position in predeterminable area, determines the current connection net
The network signal intensity of network each point in the regional area centered on the position, comprising:
Multiple current connection networks of robot are detected in each position in predeterminable area, will be the multiple current
The maximum network signal strength of network each point in the regional area using centered on the position is connected as each point
Network signal intensity.
6. the method according to claim 1, wherein each position in predeterminable area, to robot
Network environment detected, generate the corresponding localized network hotspot graph in each position, comprising:
Each network that robot connected is detected in each position in predeterminable area, determining to be with the position
The maximum network signal strength of each point in the regional area at center；
The maximum of each network connected according to the robot each point in the regional area centered on the position
Network signal intensity generates the corresponding localized network hotspot graph in the position.
7. the method according to claim 1, wherein it is described to the corresponding localized network hotspot graph in each position into
Row integration, after generating the corresponding network boom point diagram of the predeterminable area, further includes:
Obtain the time point for generating the network boom point diagram；
Whether the difference for judging current point in time and generating the time point of the network boom point diagram is more than or equal to preset time threshold；
If the difference at the time point of current point in time and the generation network boom point diagram is more than or equal to preset time threshold, to institute
Network boom point diagram is stated to be updated.
8. a kind of paths planning method of robot, which comprises the following steps:
Obtain the map and the corresponding network boom point diagram of the predeterminable area of predeterminable area；
Road is carried out according to the map of the predeterminable area and the corresponding network boom point diagram of the predeterminable area are mobile to robot
Diameter planning, reduces the quantity for needing the vulnerable network signal area passed through；The vulnerable network signal area is corresponding network signal
Situation is inferior to the region of default network signal situation.
9. a kind of network boom point diagram generating means characterized by comprising
Detection module detects the network environment of robot for each position in predeterminable area, generates each position
Corresponding localized network hotspot graph is set, the localized network hotspot graph includes: in the regional area centered on corresponding position
Network signal situation；
It is corresponding to generate the predeterminable area for integrating to the corresponding localized network hotspot graph in each position for generation module
Network boom point diagram.
10. a kind of path planning apparatus of robot characterized by comprising
Obtain module, the corresponding network boom point diagram of map and the predeterminable area for obtaining predeterminable area；
Path planning module, for according to the map of the predeterminable area and the corresponding network boom point diagram pair of the predeterminable area
Robot is mobile to carry out path planning, reduces the quantity for needing the vulnerable network signal area passed through；The vulnerable network signal area,
It is inferior to the region of default network signal situation for corresponding network signal situation.
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Application publication date: 20190830 |