Multi-robot multi-area key continuous monitoring method, storage medium and electronic equipment

Abstract

The invention discloses a multi-robot multi-area key continuous monitoring method, a storage medium and electronic equipment. The method comprises the steps that a two-dimensional grid map is established, and a robot and a target are regarded as mass points; assigning a target influence value to the initial position of the target, and enabling the target influence value to be propagated to the periphery at a first gradient so as to establish a target influence graph; assigning a robot influence value to the current position of the robot, and spreading the robot influence value to the periphery at a second gradient to establish a robot influence graph; for a single robot, superposing the robot influence graphs of the other robots and all the target influence graphs to obtain a comprehensive influence graph; executing position distribution; the location of the robot is updated as the robot reaches the destination location, and the target impact value at the sensor access location is updated. According to the multi-robot multi-area key continuous monitoring method, the key monitoring area can be quickly marked, so that the multiple robots execute the continuous monitoring task in the key area.

Description

Technical Field

[0001] The present invention relates to the technical field of continuous monitoring, and in particular to a multi-robot multi-area focused continuous monitoring method, a storage medium and an electronic device. Background Art

[0002] In a confined space, active targets such as people and vehicles may emerge from secret passages or leave the monitoring range at any time, so there are unknown potential threats. These unknown risks may cause dynamic events such as the destruction of robots and the burial of potential threat equipment in space. It is often necessary to coordinate multiple robots to conduct key and continuous monitoring of abnormal areas. Active targets affect the importance of related areas. The impact of the target spreads to the surrounding areas with the location of its appearance as the center, making the related areas key areas. When an abnormal situation occurs in a local area and requires key and continuous monitoring, the robot needs to give priority to or frequently visit the relevant areas. In the multi-robot continuous monitoring task, these key areas should be quickly marked to increase the frequency of robots' visits to key areas.

[0003] Figure 1' Middle D im0 Indicates the key area where the target emerges from the secret passage, D im1 Indicates the key area where robot failure occurs, D im2 Indicates the key area where the target leaves the monitoring range, D im1 With D im2 Intersecting areas are generated. The key areas generated by different targets may overlap. The importance of the overlapping area is greater than the importance of the area affected by a single target, and it deserves more attention. Therefore, it is necessary to explore a method to integrate the importance of multiple key areas. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a multi-robot multi-area key continuous monitoring method, which can quickly mark the key monitoring area.

[0005] The present invention also provides a computer-readable storage medium.

[0006] The invention also provides an electronic device.

[0007] According to a multi-robot multi-area key continuous monitoring method according to a first aspect of the present invention, the method is used to allocate target positions of multiple robots in a task area, the robots are provided with sensors for accessing the task area, the task area is provided with a passage for the robots to walk, there are multiple targets in the task area, each of the targets affects the importance of a certain area, the method includes:

[0008] The task area is evenly divided into a plurality of grids on a two-dimensional plane to establish a two-dimensional grid map, and the robot and the target are regarded as particles on the two-dimensional grid map;

[0009] Assigning a target influence value to the initial position of the target, and propagating the target influence value to the surrounding areas with a first gradient to establish a target influence graph;

[0010] Assigning a robot influence value to the current position of the robot, and propagating the robot influence value to the surrounding areas with a second gradient to establish a robot influence graph;

[0011] For a single robot, the robot influence diagrams of the remaining robots and all the target influence diagrams are superimposed to obtain a comprehensive influence diagram, wherein each position of the comprehensive influence diagram has a comprehensive influence value;

[0012] To perform location-allocation:

[0013] Obtaining adjacent positions of the robot;

[0014] If the number of the adjacent positions is greater than 1, selecting one of the adjacent positions with the largest comprehensive impact value as the pre-allocated position; otherwise, updating the pre-allocated position with the only adjacent position;

[0015] If the current position allocation is the wth time, and the current position of the robot, the pre-allocated position, and the position of the robot during the (w-1)th and (w-2)th allocations together cover the four vertices of the rectangle, then the execution jumps out of the self-loop and updates the pre-allocated position with the adjacent positions except the four positions of the rectangle;

[0016] Taking the pre-assigned position as the destination position and moving the robot toward the destination position;

[0017] updating the position of the robot when the robot reaches the destination position, and updating the target impact value at the sensor access position;

[0018] Wherein, the propagation of the target impact value and the robot impact value is interrupted when encountering obstacles in the propagation direction.

[0019] According to the multi-robot multi-area key continuous monitoring method of the embodiment of the present invention, facing the complex situation where multiple key focus areas appear simultaneously in a limited space, the position of each robot is allocated from the global optimal perspective according to the influence diagram, which can achieve rapid response to multiple areas at the same time.

[0020] In addition, the multi-robot multi-area key continuous monitoring method according to the embodiment of the present invention also has the following additional technical features:

[0021] According to some embodiments of the present invention, the initial position p (x, y) of the target is the propagation center, the target influence value at p is assumed to be a positive value, and the initial values ​​of the target influence values ​​at other positions in the two-dimensional grid map are 0, and the following propagation model is established:

[0022] The influence is propagated by moving from point p on the two-dimensional grid map using the propagation matrix M:

[0023]

[0024] In the formula, m 22 =1; the value range of the remaining elements is (0,1), indicating that the farther away from the propagation center, the greater the attenuation of the target influence value; the matrix P represents the adjacent position of p:

[0025]

[0026] In the formula, p 22 =p; the matrix O represents the target impact values ​​of the elements in P, and the arrangement positions of the target impact values ​​correspond to the positions of the elements in P:

[0027]

[0028] Define the matrix operator @:

[0029]

[0030] Update the matrix O according to the following formula:

[0031] O=O@M

[0032] The above process is a propagation process of the target influence value, and the remaining elements in P are used as new propagation centers in turn to move the propagation matrix M, while updating the matrix P and the target influence values ​​of each element in P.

[0033] In some embodiments of the present invention, the robot influence value is a negative value, and the robot influence value is propagated using the propagation model.

[0034] According to some embodiments of the present invention, the number of locations visited by the robot within the certain area within a specified time T is used as the access efficiency E T , calculate E according to the following formula T :

[0035]

[0036] In the formula, ||J v || represents the set of locations visited within the certain area J v The size of ||Jdot || represents the location set J within the certain area dot size.

[0037] In some specific embodiments of the present invention, the specified time T is calculated according to the following formula:

[0038]

[0039] Where n is the number of robots; |v| is the average speed of the robots; the middle{·} operation means that the contents in {} are arranged in descending order and the largest value in the middle is taken; when the number of elements in {} is even, the median is the arithmetic mean of the two middle values; Dist k is the kth robot and J dot The minimum Manhattan distance between the elements in .

[0040] According to some embodiments of the present invention, the executing jump out of the self-loop further comprises:

[0041] The adjacent position with the largest comprehensive impact value is selected as the pre-allocated position.

[0042] According to some embodiments of the present invention, the target influence value is cleared when the mesh or a vertex of the mesh is accessed.

[0043] According to some embodiments of the present invention, a vertex of the mesh located in the channel is used as the position of the target, and the target influence value of the vertex is calculated according to the target influence values ​​of the mesh around the vertex;

[0044] The vertex of the mesh located in the channel is used as the position of the robot, and the robot influence value of the vertex is calculated according to the robot influence value of the mesh around the vertex.

[0045] According to the computer-readable storage medium of the second aspect of the present invention, a computer program is stored thereon, and when the computer program is executed by a processor, the multi-robot multi-area key continuous monitoring method as described in the first aspect of the present invention is implemented.

[0046] According to the computer-readable storage medium of an embodiment of the present invention, in the face of a complex scenario in which multiple key areas of concern appear simultaneously in a limited space, the position of each robot is allocated from a global optimal perspective based on the influence diagram, which can achieve rapid response to multiple areas at the same time.

[0047] According to the electronic device of the third aspect embodiment of the present invention, the electronic device includes a processor and a memory, the processor is connected to the memory, the memory is used to store a computer program, and when the computer program is executed by the processor, the multi-robot multi-area key continuous monitoring method as described in the first aspect embodiment of the present invention is implemented.

[0048] According to the electronic device of the embodiment of the present invention, facing the complex situation where multiple key focus areas appear simultaneously in a limited space, the position of each robot is allocated from the perspective of global optimality according to the influence diagram, which can achieve rapid response to multiple areas at the same time.

[0049] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1' It is a schematic diagram of multiple key areas in a limited space;

[0051] Figure 1 is a finite space grid map according to an embodiment of the present invention;

[0052] Figure 2 is a schematic diagram of force propagation according to an embodiment of the present invention;

[0053] Figure 3 (a) is a schematic diagram of multiple non-overlapping impact areas according to an embodiment of the present invention;

[0054] Figure 3 (b) is a schematic diagram of overlapping of multiple influence areas according to an embodiment of the present invention;

[0055] Figure 4 is a propagation schematic diagram of a propagation matrix according to an embodiment of the present invention;

[0056] Figure 5 is a trajectory planning flow chart according to an embodiment of the present invention;

[0057] Figure 6 is a flow chart of a single-step position allocation method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0059] The following describes a multi-robot multi-area focused continuous monitoring method according to an embodiment of the first aspect of the present invention with reference to the accompanying drawings.

[0060] The multi-robot multi-area key continuous monitoring method according to an embodiment of the present invention is used to allocate target positions of multiple robots in a task area, the robots are provided with sensors for accessing the task area, the task area is provided with a passage for the robots to walk, there are multiple targets in the task area, and each target affects the importance of a certain area. The method includes:

[0061] The task area is evenly divided into multiple grids on a two-dimensional plane to establish a two-dimensional grid map, and the robot and the target are regarded as mass points on the two-dimensional grid map;

[0062] Assign a target influence value to the initial position of the target, and propagate the target influence value to the surrounding areas with a first gradient to establish a target influence graph;

[0063] Assigning a robot influence value to the current position of the robot, and propagating the robot influence value to the surrounding areas with a second gradient to establish a robot influence graph;

[0064] For a single robot, the robot influence diagrams of the remaining robots and all target influence diagrams are superimposed to obtain a comprehensive influence diagram, where each position of the comprehensive influence diagram has a comprehensive influence value;

[0065] To perform location-allocation:

[0066] Get the robot's adjacent position;

[0067] If the number of adjacent positions is greater than 1, select the adjacent position with the largest comprehensive influence value as the pre-allocated position; otherwise, update the pre-allocated position with the only adjacent position;

[0068] If the current position allocation is the wth time, and the robot's current position, pre-allocated position, and the robot's position during the (w-1)th and (w-2)th allocations together cover the four vertices of the rectangle, then the execution jumps out of the self-loop and updates the pre-allocated position with the adjacent positions other than the four positions of the rectangle;

[0069] The pre-assigned position is used as the destination position, and the robot is moved toward the destination position;

[0070] When the robot reaches the destination, the robot position is updated, and the target impact value at the sensor access location is updated;

[0071] Among them, the propagation of the target impact value and the robot impact value is interrupted when encountering obstacles in the propagation direction.

[0072] In order to focus on visiting a local area, we first need to determine the focus visit range. The initial position of the target p (x, y) is the propagation center. The target influence value at p is set to a positive value, and the initial value of the target influence value at other positions in the two-dimensional grid map is 0. The focus visit range is determined by the propagation range of the influence value at p, and the following propagation model is established:

[0073] The influence is propagated by moving from point p on a two-dimensional grid map using the propagation matrix M:

[0074]

[0075] In the formula, m 22 =1; the value range of the remaining elements is (0,1), which means that the farther the target is from the propagation center, the greater the attenuation of the target influence value; the matrix P represents the adjacent position of p:

[0076]

[0077] In the formula, p 22 =p; the matrix O represents the target impact value of the elements in P, and the arrangement position of the target impact value corresponds to the position of the elements in P:

[0078]

[0079] Define the matrix operator @:

[0080]

[0081] Update the matrix O according to the following formula:

[0082] O=O@M (5)

[0083] The above process is a propagation process of the target influence value. The remaining elements in P are used as new propagation centers to move the propagation matrix M. In each propagation process, the matrix P and the target influence values ​​of each element in P are updated according to equations (2) to (5). Finally, the influence of the target on the robot trajectory planning is quantified.

[0084] Similarly, in order to disperse the robots, the robot influence value is negative, and the above-mentioned propagation model is used to propagate the influence of multiple robots on each other.

[0085] In order to reflect the response effect of the robot in performing continuous monitoring tasks in key areas, the number of locations visited by the robot within a certain area within a specified time is taken as the access efficiency E T , calculate E according to the following formula T :

[0086]

[0087] In the formula, ||J v|| represents the set of locations visited within a certain area J v The size of ||J dot || represents the location set J within a certain area dot size.

[0088] The specified time T is calculated according to the following formula:

[0089]

[0090] Where n is the number of robots; |v| is the average speed of the robots; the middle{·} operation means that the contents in {} are arranged in descending order and the largest value in the middle is taken; when the number of elements in {} is even, the median is the arithmetic mean of the two middle values; Dist k is the kth robot and J dot The minimum Manhattan distance between the elements in .

[0091] In some embodiments of the present invention, the target influence value is reset to zero when a mesh or a vertex of the mesh is accessed. The corresponding value is calculated based on the target influence value or robot influence value of the mesh surrounding the vertex.

[0092] Specifically, in Figure 1 The xOy coordinate system is established on the grid map D shown in the figure. The black thick solid line represents the obstacle, and the dot represents the robot r1. The robot r1 needs to visit the key area D as soon as possible along the dotted arrow. im . F g A free vertex.

[0093] Assume that the robot walks along the free vertices. In order for the robot to quickly patrol the key areas, the influence of the target should be able to propagate to the robot and generate attraction to the robot. In order for the robot to perform continuous monitoring tasks in a dispersed manner, it is assumed that the robot exerts influence on the surrounding area with its position as the center. This influence should be able to propagate to the other robots and generate repulsion to the other robots.

[0094] In order to quantitatively describe the above effects of multiple targets and multiple robots, the following constraints are made:

[0095] ① Ignore factors such as the target’s mass, shape, and structure, and treat the target as a point mass.

[0096] ② The robot can only move to unoccupied vertices in its four neighborhoods, and the speed direction is one of the four directions: up, down, left, and right. The speeds of the n robots are the same.

[0097] ③ The target moves along the grid vertices and moves to one of the four adjacent positions: up, down, left, and right with equal probability.

[0098] ④ The target has a virtual attractive force on the robot that spreads around the target's initial position, and the robots have a virtual repulsive force on each other that spreads around their respective positions.

[0099] ⑤ The attraction of the target to the robot and the repulsion between robots weaken as the distance increases.

[0100] ⑥ Both the attractive force and the repulsive force propagate in eight directions: up, down, left, right, upper left, upper right, lower left and lower right, and are unidirectional propagations starting from the initial propagation position.

[0101] ⑦ The influence areas between targets, between robots, and between targets and robots can be superimposed.

[0102] ⑧ The propagation is interrupted when encountering a wall blocking the propagation direction.

[0103] like Figure 2 As shown in the figure, the white hollow circle represents the robot or target, and the arrows represent the transmission of virtual force in various directions. In each layer of transmission, the effects in the up-down-left-right-up-right, down-left-down-right and down-right directions are stronger than those in the up-left, up-right, down-left and down-right directions.

[0104] exist Figure 3 In the 28×23 grid map shown, the positions of the three targets are (8,19), (15,13) and (18,17) respectively. Figure 3 The impact areas circled by the three dashed boxes in (a) do not overlap, and the impact of the target on each position in the impact area is the same. Figure 3 In (b), the impact of the target decreases from the center to the edge of the three impact areas A, B, and C, which is represented by the color changing from dark to light. According to the agreed direction of impact propagation, area A is not blocked by the wall in the propagation direction, while areas B and C are blocked by the wall respectively. The dotted box circles the overlapping part of area A and area B. The color of the overlapping area is darker than that of a single area, indicating that the importance of the overlapping area is greater than that of a single area.

[0105] Assume that the detection range of the sensor is 4 grids around the current position of the robot. In order to quantify the impact of the target on the regional importance, the propagation of attraction is described as the propagation of the influence value at the initial position of the target on the grid map according to equations (2) to (5). Figure 4 (a) shows the propagation matrix M:

[0106]

[0107] Figure 4 In (b), the initial influence value 2 is set for the initial propagation position p:

[0108]

[0109] Figure 4 (c) Update P to propagate vertex p ij The impact value of ij :

[0110]

[0111] The remaining vertices in P are used as the centers of the propagation matrix M, such as Figure 4 (d) The vertex on the left side of the initial propagation position p, performs @ operation on O centered at this point, Figure 4 Update the influence value of O in (e).

[0112] Considering that the target's activity range is limited within a certain period of time and the wall will block the propagation of the influence, the propagation distance of M is limited. Set a movement number threshold for M, and stop propagation when the movement number exceeds the threshold.

[0113] When the distance between the robot and the initial position of the target is far, the impact of the target may spread over a wider range, so the distance between the robot and the target is a factor that should be considered when selecting the threshold.

[0114] Thus, the target influence graph is generated by propagating the initial target influence value on the grid map. The difference between the robot influence graph and the target influence graph is that the influence of other robots on the robot is repulsive, so the initial influence value of the robot influence graph is negative.

[0115] Single robot k The comprehensive influence diagram of is the result of superimposing all target influence diagrams and the influence diagrams of other robots. Considering the reduced importance of the positions visited by the robot, the target influence values ​​of the visited vertices on the comprehensive influence diagram are set to 0. k When assigning positions, the influence value of any position This should be the sum of all targets and other robots' influence values ​​here:

[0116]

[0117] Where, objim i The impact value generated by the target i propagating to this position; robim i is the robot r that is transmitted to this location i The impact value generated.

[0118] Based on the target influence diagram, robot influence diagram, and robot comprehensive influence diagram, the trajectory planning process is designed as follows Figure 5 As shown:

[0119] ① Calculate the single target influence diagram and superimpose all target influence diagrams.

[0120] ② For robots k For , the influence graphs of the remaining robots are calculated and superimposed.

[0121] ③To the robot k In terms of robot r, we can add the results of ① and ② to get k The comprehensive impact diagram.

[0122] ④Assign robot k The adjacent position on the comprehensive influence diagram is selected according to the single-step position allocation method.

[0123] ⑤The positions of the remaining robots are assigned according to ②~④.

[0124] When the robot occupies a grid vertex, it visits the vertex and the impact value of the target on the vertex is cleared. When the robot reaches the assigned position, the comprehensive influence diagram is updated.

[0125] In order to avoid conflicts between the two robots in planning positions, the following Figure 6 The single-step position allocation method shown in the figure selects the vertex with the largest comprehensive influence value on the comprehensive influence diagram when the robot is prohibited from turning back or self-looping occurs:

[0126] ① Find the adjacent position set N of the robot’s current position f When N f When the number of vertices is greater than 1, the point with the largest comprehensive influence value on the comprehensive influence diagram is selected according to the no-return strategy:

[0127]

[0128] U(u,w)=IM -1 (u,w), if |N f |>1 (13)

[0129] Where IM(u,w) is the N f The maximum influence value of the middle vertex on the comprehensive influence diagram; is the vertex p i The influence value of; U(u,w) is the utility function for assigning a single-step position u to the robot. f When there is only one vertex in the list, assign that vertex to the robot.

[0130] ②When the robot has a self-loop p1p2p3p4, from N f Exclude the points in the self-loop, that is, The point with the largest influence value on the comprehensive influence diagram among the remaining adjacent positions is selected as the pre-allocated position.

[0131] According to the multi-robot multi-area key continuous monitoring method of the embodiment of the present invention, facing the complex situation where multiple key focus areas appear simultaneously in a limited space, the position of each robot is allocated from the global optimal perspective according to the influence diagram, which can achieve rapid response to multiple areas at the same time.

[0132] According to the computer-readable storage medium of the second aspect of the present invention, a computer program is stored thereon, and when the computer program is executed by a processor, the multi-robot multi-area key continuous monitoring method as described in the first aspect of the present invention is implemented.

[0133] According to the computer-readable storage medium of an embodiment of the present invention, in the face of a complex scenario in which multiple key areas of concern appear simultaneously in a limited space, the position of each robot is allocated from a global optimal perspective based on the influence diagram, which can achieve rapid response to multiple areas at the same time.

[0134] According to the electronic device of the third aspect embodiment of the present invention, the electronic device includes a processor and a memory, the processor and the memory are connected, the memory is used to store a computer program, and when the computer program is executed by the processor, the multi-robot multi-area key continuous monitoring method as described in the first aspect embodiment of the present invention is implemented.

[0135] According to the electronic device of the embodiment of the present invention, facing the complex situation where multiple key focus areas appear simultaneously in a limited space, the position of each robot is allocated from the perspective of global optimality according to the influence diagram, which can achieve rapid response to multiple areas at the same time.

[0136] Other structures and operations of the electronic device according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0137] In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0138] In the description of the present invention, "a first feature" or "a second feature" may include one or more of the features. A first feature "above" or "below" a second feature may include direct contact between the first and second features, or may include contact between the first and second features through another feature between them instead of direct contact. A first feature "above", "above" or "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature.

[0139] It should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0140] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "specific embodiments", "examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0141] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A multi-robot multi-area key continuous monitoring method, characterized in that: The method is used to assign target positions of multiple robots in a task area, wherein the robots are provided with sensors for accessing the task area, wherein the task area is provided with a passageway for the robots to walk, wherein there are multiple targets in the task area, and each of the targets affects the importance of a certain area, and the method comprises: The task area is evenly divided into a plurality of grids on a two-dimensional plane to establish a two-dimensional grid map, and the robot and the target are regarded as particles on the two-dimensional grid map; Assigning a target influence value to the initial position of the target, and propagating the target influence value to the surrounding areas with a first gradient to establish a target influence graph; Assigning a robot influence value to the current position of the robot, and propagating the robot influence value to the surrounding areas with a second gradient to establish a robot influence graph; For a single robot, the robot influence diagrams of the remaining robots and all the target influence diagrams are superimposed to obtain a comprehensive influence diagram, wherein each position of the comprehensive influence diagram has a comprehensive influence value; To perform location-allocation: Obtaining adjacent positions of the robot; If the number of the adjacent positions is greater than 1, selecting one of the adjacent positions with the largest comprehensive impact value as the pre-allocated position; otherwise, updating the pre-allocated position with the only adjacent position; If the current position allocation is the wth time, and the current position of the robot, the pre-allocated position, and the position of the robot during the (w-1)th and (w-2)th allocations together cover the four vertices of the rectangle, then the execution jumps out of the self-loop and updates the pre-allocated position with the adjacent positions except the four positions of the rectangle; Taking the pre-assigned position as the destination position and moving the robot toward the destination position; updating the position of the robot when the robot reaches the destination position, and updating the target impact value at the sensor access position; Wherein, the propagation of the target impact value and the robot impact value is interrupted when encountering obstacles in the propagation direction.

2. The multi-robot multi-area continuous monitoring method according to claim 1 is characterized in that: The initial position p (x, y) of the target is the propagation center. Assume that the target influence value at p is a positive value, and the initial values ​​of the target influence values ​​at other positions in the two-dimensional grid map are 0. The following propagation model is established: The influence is propagated by moving from point p on the two-dimensional grid map using the propagation matrix M: In the formula, m 22 =1; the value range of the remaining elements is (0,1), indicating that the farther away from the propagation center, the greater the attenuation of the target influence value; the matrix P represents the adjacent position of p: In the formula, p 22 =p; the matrix O represents the target impact values ​​of the elements in P, and the arrangement positions of the target impact values ​​correspond to the positions of the elements in P: Define the matrix operator @: Update the matrix O according to the following formula: O=O@M The above process is a propagation process of the target influence value, and the remaining elements in P are used as new propagation centers in turn to move the propagation matrix M, while updating the matrix P and the target influence values ​​of each element in P.

3. The multi-robot multi-area continuous monitoring method according to claim 2 is characterized in that: The robot influence value is a negative value, and the robot influence value is propagated using the propagation model.

4. The multi-robot multi-area continuous monitoring method according to claim 1, characterized in that: The number of locations visited by the robot within the specified time T is taken as the access efficiency E T , calculate E according to the following formula T : In the formula, ||J v || represents the set of locations visited within the certain area J v The size of ||J dot || represents the location set J within the certain area dot size.

5. The multi-robot multi-area continuous monitoring method according to claim 4 is characterized in that: The specified time T is calculated according to the following formula: Where n is the number of robots; |v| is the average speed of the robots; the middle{·} operation means that the contents in {} are arranged in descending order and the largest value in the middle is taken; when the number of elements in {} is even, the median is the arithmetic mean of the two middle values; Dist k is the kth robot and J dot The minimum Manhattan distance between the elements in .

6. The multi-robot multi-area continuous monitoring method according to claim 1, characterized in that: The execution jumps out of the self-loop further comprises: The adjacent position with the largest comprehensive impact value is selected as the pre-allocated position.

7. The multi-robot multi-area continuous monitoring method according to claim 1, characterized in that: The target influence value is cleared when the mesh or the vertex of the mesh is visited.

8. The multi-robot multi-area continuous monitoring method according to claim 1, characterized in that: Taking a vertex of the mesh located in the channel as the position of the target, and calculating the target influence value of the vertex according to the target influence values ​​of the mesh around the vertex; The vertex of the mesh located in the channel is used as the position of the robot, and the robot influence value of the vertex is calculated according to the robot influence value of the mesh around the vertex.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the multi-robot multi-area focused continuous monitoring method as described in any one of claims 1 to 8 is implemented.

10. An electronic device, characterized in that: The electronic device includes a processor and a memory, the processor is connected to the memory, the memory is used to store a computer program, and when the computer program is executed by the processor, the multi-robot multi-area key continuous monitoring method as described in any one of claims 1-8 is implemented.

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